// -*- mode: C++ -*-
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, yuto_inagaki and JSK Lab
 *  All rights reserved.
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#ifndef __JSK_PCL_COLORIZE_RANDOM_FOREST__
#define __JSK_PCL_COLORIZE_RANDOM_FOREST__

// ros
#include <ros/ros.h>
#include <ros/names.h>
#include <jsk_recognition_msgs/PointsArray.h>
// pcl
#include <pcl_ros/pcl_nodelet.h>
#include <pcl/point_types.h>
#include <pcl/point_types.h>
#include <pcl/filters/passthrough.h>
#include <pcl/common/centroid.h>
#include <pcl/common/impl/common.hpp>
#include <pcl/features/normal_3d.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/features/fpfh_omp.h>
#include <ml_classifiers/ClassifyData.h>
#include <ml_classifiers/ClassDataPoint.h>
#include <math.h>
#include <stdlib.h>
#include "jsk_topic_tools/connection_based_nodelet.h"
namespace jsk_pcl_ros
{
  class ColorizeMapRandomForest: public jsk_topic_tools::ConnectionBasedNodelet
  {
  protected:
    ros::Subscriber sub_input_;
    ros::Publisher pub_;

    double angular_threshold_;
    double mps_distance_threshold_;
    double approx_threshold_;
    double max_depth_change_factor_;
    double normal_smoothingsize_;
    double refinement_threshold_;
    float radius_search_;
    float pass_offset_;
    float pass_offset2_;
    int min_inliers_;
    int mode_;
    int sum_num_;
  private:
    virtual void onInit();
    void extract(const sensor_msgs::PointCloud2 cloud);
    void subscribe();
    void unsubscribe();
  };
}

#endif
