// -*- mode: C++ -*-
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#include "jsk_pcl_ros/depth_image_error.h"
#include <pluginlib/class_list_macros.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>

namespace jsk_pcl_ros
{
  void DepthImageError::onInit()
  {
    PCLNodelet::onInit();
    depth_error_publisher_ = advertise<DepthErrorResult>(*pnh_, "output", 1);
  }

  void DepthImageError::subscribe()
  {
    sub_image_.subscribe(*pnh_, "image", 1);
    sub_point_.subscribe(*pnh_, "point", 1);
    sub_camera_info_.subscribe(*pnh_, "camera_info", 1);
    sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(1000);
    sync_->connectInput(sub_image_, sub_point_, sub_camera_info_);
    sync_->registerCallback(boost::bind(&DepthImageError::calcError,
                                        this, _1, _2, _3));
  }

  void DepthImageError::unsubscribe()
  {
    sub_image_.unsubscribe();
    sub_point_.unsubscribe();

  }


  void DepthImageError::calcError(const sensor_msgs::Image::ConstPtr& depth_image,
                                  const geometry_msgs::PointStamped::ConstPtr& uv_point,
                                  const sensor_msgs::CameraInfo::ConstPtr& camera_info)
  {
    cv_bridge::CvImagePtr cv_ptr;
    cv_ptr = cv_bridge::toCvCopy(depth_image, sensor_msgs::image_encodings::TYPE_32FC1);
    cv::Mat cv_depth_image = cv_ptr->image;
    double depth_from_depth_sensor = cv_depth_image.at<float>((int)uv_point->point.y, (int)uv_point->point.x);
    NODELET_INFO("timestamp diff is %f", (depth_image->header.stamp - uv_point->header.stamp).toSec());
    NODELET_INFO("(u, v) = (%d, %d)", (int)uv_point->point.x, (int)uv_point->point.y);
    NODELET_INFO("(z, d) = (%f, %f)", uv_point->point.z, depth_from_depth_sensor);
    if (! isnan(depth_from_depth_sensor)) {
      jsk_pcl_ros::DepthErrorResult result;
      result.header.frame_id = depth_image->header.frame_id;
      result.header.stamp = depth_image->header.stamp;
      result.u = (int)uv_point->point.x;
      result.v = (int)uv_point->point.y;
      result.center_u = camera_info->P[2];
      result.center_v = camera_info->P[6];
      result.true_depth = uv_point->point.z;
      result.observed_depth = depth_from_depth_sensor;
      depth_error_publisher_.publish(result);
    }
  }
}

PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::DepthImageError, nodelet::Nodelet);
