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

#include <geometry_msgs/PolygonStamped.h>
#include <libcmt/CMT.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>

namespace jsk_perception
{
  class ConsensusTracking : public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    ConsensusTracking() :
      DiagnosticNodelet("ConsensusTracking"),
      window_initialized_(false) {}
    virtual ~ConsensusTracking();
    typedef message_filters::sync_policies::ApproximateTime<
      sensor_msgs::Image,
      geometry_msgs::PolygonStamped> ApproximateSyncPolicy;
    typedef message_filters::sync_policies::ExactTime<
      sensor_msgs::Image,
      geometry_msgs::PolygonStamped> ExactSyncPolicy;
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void getTrackingResult(const sensor_msgs::Image::ConstPtr& image_msg);
    void setInitialWindow(const sensor_msgs::Image::ConstPtr& img_msg,
                          const geometry_msgs::PolygonStamped::ConstPtr& poly_msg);

    ros::Publisher pub_mask_image_;
    ros::Publisher pub_debug_image_;

    ros::Subscriber sub_image_;
    boost::shared_ptr<message_filters::Synchronizer<ExactSyncPolicy> > sync_;
    boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicy> > async_;
    message_filters::Subscriber<sensor_msgs::Image> sub_image_to_init_;
    message_filters::Subscriber<geometry_msgs::PolygonStamped> sub_polygon_to_init_;

    CMT cmt;

    boost::mutex mutex_;
    bool window_initialized_;
    bool approximate_sync_;
    int queue_size_;
  private:
  };
}  // namespace jsk_perception

#endif // JSK_PERCEPTION_CONSENSUS_TRACKING_H_
