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

#include <pcl_ros/pcl_nodelet.h>
#include <dynamic_reconfigure/server.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>

#include "jsk_pcl_ros/pcl_util.h"
#include "jsk_pcl_ros/geo_util.h"
#include <jsk_recognition_msgs/BoundingBoxArray.h>
#include <jsk_recognition_msgs/ClusterPointIndices.h>
#include <jsk_recognition_msgs/ModelCoefficientsArray.h>
#include <jsk_pcl_ros/BoundingBoxFilterConfig.h>
#include "jsk_topic_tools/connection_based_nodelet.h"

namespace jsk_pcl_ros
{
  class BoundingBoxFilter: public jsk_topic_tools::ConnectionBasedNodelet
  {
  public:
    typedef jsk_pcl_ros::BoundingBoxFilterConfig Config;

    typedef message_filters::sync_policies::ExactTime<
      jsk_recognition_msgs::BoundingBoxArray,
      jsk_recognition_msgs::ClusterPointIndices
      > SyncPolicy;

  protected:
    ////////////////////////////////////////////////////////
    // methods
    ////////////////////////////////////////////////////////
    virtual void onInit();
    virtual void filter(
      const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& box_array_msg,
      const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& indices_msg);
    virtual void configCallback(Config &config, uint32_t level);
    virtual void updateDiagnostic(
      diagnostic_updater::DiagnosticStatusWrapper &stat);
    virtual void subscribe();
    virtual void unsubscribe();
    ////////////////////////////////////////////////////////
    // ROS varariables
    ////////////////////////////////////////////////////////
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    message_filters::Subscriber<jsk_recognition_msgs::BoundingBoxArray> sub_box_;
    message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_indices_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
    ros::Publisher filtered_box_pub_;
    ros::Publisher filtered_indices_pub_;
    boost::mutex mutex_;
    
    ////////////////////////////////////////////////////////
    // Diagnostics Variables
    ////////////////////////////////////////////////////////
    TimeredDiagnosticUpdater::Ptr diagnostic_updater_;
    jsk_topic_tools::VitalChecker::Ptr vital_checker_;
    Counter remove_counter_;
    Counter pass_counter_;
    
    ////////////////////////////////////////////////////////
    // Parameters
    ////////////////////////////////////////////////////////
    bool filter_limit_negative_;
    bool use_x_dimension_;
    bool use_y_dimension_;
    bool use_z_dimension_;
    double x_dimension_min_;
    double x_dimension_max_;
    double y_dimension_min_;
    double y_dimension_max_;
    double z_dimension_min_;
    double z_dimension_max_;
    
    
  private:
    
  };
}

#endif
