// -*- mode: c++ -*-
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2015, JSK Lab
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 *
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#define BOOST_PARAMETER_MAX_ARITY 7
#include "jsk_pcl_ros/polygon_magnifier.h"
#include "jsk_pcl_ros/geo_util.h"

namespace jsk_pcl_ros
{
  void PolygonMagnifier::onInit()
  {
    DiagnosticNodelet::onInit();
    srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
    typename dynamic_reconfigure::Server<Config>::CallbackType f =
      boost::bind (&PolygonMagnifier::configCallback, this, _1, _2);
    srv_->setCallback (f);

    pub_ = advertise<jsk_recognition_msgs::PolygonArray>(*pnh_, "output", 1);
  }

  void PolygonMagnifier::subscribe()
  {
    sub_ = pnh_->subscribe("input", 1, &PolygonMagnifier::magnify, this);
  }

  void PolygonMagnifier::unsubscribe()
  {
    sub_.shutdown();
  }

  void PolygonMagnifier::configCallback(Config &config, uint32_t level)
  {
    boost::mutex::scoped_lock lock(mutex_);
    magnify_distance_ = config.magnify_distance;
  }

  void PolygonMagnifier::magnify(
    const jsk_recognition_msgs::PolygonArray::ConstPtr& msg)
  {
    boost::mutex::scoped_lock lock(mutex_);
    vital_checker_->poke();
    jsk_recognition_msgs::PolygonArray ret_polygon_array;
    ret_polygon_array.header = msg->header;
    for (size_t i = 0; i < msg->polygons.size(); i++) {
      geometry_msgs::PolygonStamped magnified_polygon;
      magnified_polygon.header = msg->polygons[i].header;
      ConvexPolygon poly = ConvexPolygon::fromROSMsg(msg->polygons[i].polygon);
      ConvexPolygon::Ptr magnified_poly = poly.magnifyByDistance(magnify_distance_);
      magnified_polygon.polygon = magnified_poly->toROSMsg();
      ret_polygon_array.polygons.push_back(magnified_polygon);
    }
    pub_.publish(ret_polygon_array);
  }
    
}

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::PolygonMagnifier, nodelet::Nodelet);
