// -*- mode: c++ -*-
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#ifndef JSK_PERCEPTION_GRABCUT_H_
#define JSK_PERCEPTION_GRABCUT_H_

#include <sensor_msgs/Image.h>

#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <dynamic_reconfigure/server.h>
#include "jsk_perception/GrabCutConfig.h"

namespace jsk_perception
{
  class GrabCut: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef GrabCutConfig Config;
    typedef message_filters::sync_policies::ExactTime<
    sensor_msgs::Image,
    sensor_msgs::Image,
    sensor_msgs::Image> SyncPolicy;
    
    typedef boost::shared_ptr<GrabCut> Ptr;
    GrabCut() : DiagnosticNodelet("GrabCut") {}

  protected:
    ////////////////////////////////////////////////////////
    // methods
    ////////////////////////////////////////////////////////
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void updateDiagnostic(
      diagnostic_updater::DiagnosticStatusWrapper &stat);
    virtual void segment(
      const sensor_msgs::Image::ConstPtr& image_msg,
      const sensor_msgs::Image::ConstPtr& foreground_msg,
      const sensor_msgs::Image::ConstPtr& background_msg);
    virtual void configCallback (Config &config, uint32_t level);    
    ////////////////////////////////////////////////////////
    // parameters
    ////////////////////////////////////////////////////////
    ros::Publisher pub_foreground_;
    ros::Publisher pub_background_;
    ros::Publisher pub_foreground_mask_;
    ros::Publisher pub_background_mask_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
    message_filters::Subscriber<sensor_msgs::Image> sub_image_;
    message_filters::Subscriber<sensor_msgs::Image> sub_foreground_;
    message_filters::Subscriber<sensor_msgs::Image> sub_background_;
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
    boost::mutex mutex_;
    
    ////////////////////////////////////////////////////////
    // Parameters
    ////////////////////////////////////////////////////////
    bool use_probable_pixel_seed_;    
  private:
    
  };
}

#endif
