// -*- mode: C++ -*-
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#ifndef JSK_PCL_ROS_ORGANIZED_PLANE_SEGMENTATION_H_
#define JSK_PCL_ROS_ORGANIZED_PLANE_SEGMENTATION_H_

#include <ros/ros.h>
#include <ros/names.h>

#include "jsk_pcl_ros/ClusterPointIndices.h"
#include "sensor_msgs/PointCloud2.h"
#include <pcl_ros/pcl_nodelet.h>
#include <pcl/segmentation/organized_multi_plane_segmentation.h>
#include <dynamic_reconfigure/server.h>
#include "jsk_pcl_ros/OrganizedMultiPlaneSegmentationConfig.h"
#include "jsk_pcl_ros/PolygonArray.h"
#include <jsk_topic_tools/time_accumulator.h>
#include <jsk_topic_tools/vital_checker.h>
#include "jsk_pcl_ros/pcl_util.h"
#include "jsk_pcl_ros/geo_util.h"

#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>
#include "jsk_pcl_ros/connection_based_nodelet.h"

namespace jsk_pcl_ros
{
  class OrganizedMultiPlaneSegmentation: public ConnectionBasedNodelet
  {
  public:
    typedef pcl::PointXYZRGBA PointT;
    typedef std::vector<pcl::PlanarRegion<PointT>,
                        Eigen::aligned_allocator<pcl::PlanarRegion<PointT> > >
    PlanarRegionVector;
    typedef jsk_pcl_ros::OrganizedMultiPlaneSegmentationConfig Config;
  protected:
    ////////////////////////////////////////////////////////
    // methods
    ////////////////////////////////////////////////////////
    virtual void segment(const sensor_msgs::PointCloud2::ConstPtr& msg);
    virtual void estimateNormal(pcl::PointCloud<PointT>::Ptr input,
                                pcl::PointCloud<pcl::Normal>::Ptr output);
    virtual void configCallback (Config &config, uint32_t level);
    virtual void pointCloudToPolygon(const pcl::PointCloud<PointT>& input,
                                     geometry_msgs::Polygon& polygon);
    virtual void pclIndicesArrayToClusterPointIndices(const std::vector<pcl::PointIndices>& inlier_indices,
                                                      const std_msgs::Header& header,
                                                      jsk_pcl_ros::ClusterPointIndices& output_indices);
    virtual void connectPlanesMap(const pcl::PointCloud<PointT>::Ptr& input,
                                  const std::vector<pcl::ModelCoefficients>& model_coefficients,
                                  const std::vector<pcl::PointIndices>& boundary_indices,
                                  IntegerGraphMap& connection_map);
    virtual void buildConnectedPlanes(const pcl::PointCloud<PointT>::Ptr& input,
                                      const std_msgs::Header& header,
                                      const std::vector<pcl::PointIndices>& inlier_indices,
                                      const std::vector<pcl::PointIndices>& boundary_indices,
                                      const std::vector<pcl::ModelCoefficients>& model_coefficients,
                                      const IntegerGraphMap& connection_map,
                                      std::vector<pcl::PointIndices>& output_indices,
                                      std::vector<pcl::ModelCoefficients>& output_coefficients,
                                      std::vector<pcl::PointCloud<PointT> >& output_boundary_clouds);
    virtual void forceToDirectOrigin(const std::vector<pcl::ModelCoefficients>& coefficients,
                                     std::vector<pcl::ModelCoefficients>& output_coefficients);
    virtual void publishMarkerOfConnection(
      IntegerGraphMap connection_map,
      const pcl::PointCloud<PointT>::Ptr cloud,
      const std::vector<pcl::PointIndices>& inliers,
      const std_msgs::Header& header);

    virtual void segmentOrganizedMultiPlanes(
      pcl::PointCloud<PointT>::Ptr input,
      pcl::PointCloud<pcl::Normal>::Ptr normal,
      PlanarRegionVector& regions,
      std::vector<pcl::ModelCoefficients>& model_coefficients,
      std::vector<pcl::PointIndices>& inlier_indices,
      pcl::PointCloud<pcl::Label>::Ptr& labels,
      std::vector<pcl::PointIndices>& label_indices,
      std::vector<pcl::PointIndices>& boundary_indices);
    
    virtual void segmentFromNormals(pcl::PointCloud<PointT>::Ptr input,
                                    pcl::PointCloud<pcl::Normal>::Ptr normal,
                                    const std_msgs::Header& header);
    
    virtual void publishSegmentationInformation(
      const std_msgs::Header& header,
      const pcl::PointCloud<PointT>::Ptr input,
      ros::Publisher& indices_pub,
      ros::Publisher& polygon_pub,
      ros::Publisher& coefficients_pub,
      const std::vector<pcl::PointIndices>& inlier_indices,
      const std::vector<pcl::PointCloud<PointT> >& boundaries,
      const std::vector<pcl::ModelCoefficients>& model_coefficients);
    virtual void publishSegmentationInformation(
      const std_msgs::Header& header,
      const pcl::PointCloud<PointT>::Ptr input,
      ros::Publisher& indices_pub,
      ros::Publisher& polygon_pub,
      ros::Publisher& coefficients_pub,
      const std::vector<pcl::PointIndices>& inlier_indices,
      const std::vector<pcl::PointIndices>& boundary_indices,
      const std::vector<pcl::ModelCoefficients>& model_coefficients);
    
    virtual void refineBasedOnRANSAC(
      const pcl::PointCloud<PointT>::Ptr input,
      const std::vector<pcl::PointIndices>& input_indices,
      const std::vector<pcl::ModelCoefficients>& input_coefficients,
      std::vector<pcl::PointIndices>& output_indices,
      std::vector<pcl::ModelCoefficients>& output_coefficients,
      std::vector<ConvexPolygon::Ptr>& output_boundaries);

    
    virtual void updateDiagnostics(const ros::TimerEvent& event);
    virtual void updateDiagnosticNormalEstimation(
      diagnostic_updater::DiagnosticStatusWrapper &stat);
    virtual void updateDiagnosticPlaneSegmentation(
      diagnostic_updater::DiagnosticStatusWrapper &stat);
    virtual void subscribe();
    virtual void unsubscribe();
    ////////////////////////////////////////////////////////
    // ROS variables
    ////////////////////////////////////////////////////////
    ros::Publisher org_pub_, org_polygon_pub_, org_coefficients_pub_;
    ros::Publisher pub_, polygon_pub_, coefficients_pub_;
    ros::Publisher refined_pub_, refined_polygon_pub_, refined_coefficients_pub_;
    ros::Publisher normal_pub_;
    ros::Publisher pub_connection_marker_;
    ros::Subscriber sub_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    boost::mutex mutex_;
    boost::shared_ptr<diagnostic_updater::Updater> diagnostic_updater_;
    jsk_topic_tools::TimeAccumulator plane_segmentation_time_acc_;
    jsk_topic_tools::TimeAccumulator normal_estimation_time_acc_;
    jsk_topic_tools::TimeAccumulator ransac_refinement_time_acc_;
    jsk_topic_tools::VitalChecker::Ptr normal_estimation_vital_checker_;
    jsk_topic_tools::VitalChecker::Ptr plane_segmentation_vital_checker_;
    ros::Timer diagnostics_timer_;
    
    int min_size_;
    double concave_alpha_;
    double angular_threshold_;
    double distance_threshold_;
    double max_curvature_;
    double connect_plane_angle_threshold_;
    double connect_distance_threshold_;
    double min_refined_area_threshold_;
    double max_refined_area_threshold_;
    int estimation_method_;
    bool depth_dependent_smoothing_;
    double max_depth_change_factor_;
    double normal_smoothing_size_;
    bool border_policy_ignore_;
    bool estimate_normal_;
    bool publish_normal_;

    ////////////////////////////////////////////////////////
    // parameters for RANSAC refinement
    ////////////////////////////////////////////////////////
    bool ransac_refine_coefficients_;
    double ransac_refine_outlier_distance_threshold_;
    
    Counter original_plane_num_counter_;
    Counter connected_plane_num_counter_;

    
  private:
    virtual void onInit();
  };
}

#endif
