// -*- mode: c++ -*-
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#include "jsk_pcl_ros/pcl_conversion_util.h"

namespace jsk_pcl_ros
{
  void convertEigenAffine3(const Eigen::Affine3d& from,
                           Eigen::Affine3f& to)
  {
    Eigen::Matrix4d from_mat = from.matrix();
    Eigen::Matrix4f to_mat;
    convertMatrix4<Eigen::Matrix4d, Eigen::Matrix4f>(from_mat, to_mat);
    to = Eigen::Affine3f(to_mat);
  }
  
  void convertEigenAffine3(const Eigen::Affine3f& from,
                           Eigen::Affine3d& to)
  {
    Eigen::Matrix4f from_mat = from.matrix();
    Eigen::Matrix4d to_mat;
    convertMatrix4<Eigen::Matrix4f, Eigen::Matrix4d>(from_mat, to_mat);
    to = Eigen::Affine3d(to_mat);
  }
}

namespace pcl_conversions
{
  std::vector<pcl::PointIndices::Ptr>
  convertToPCLPointIndices(
    const std::vector<PCLIndicesMsg>& cluster_indices)
  {
    std::vector<pcl::PointIndices::Ptr> ret;
    for (size_t i = 0; i < cluster_indices.size(); i++) {
      std::vector<int> indices = cluster_indices[i].indices;
      pcl::PointIndices::Ptr pcl_indices (new pcl::PointIndices);
      pcl_indices->indices = indices;
      ret.push_back(pcl_indices);
    }
    return ret;
  }

  std::vector<pcl::ModelCoefficients::Ptr>
  convertToPCLModelCoefficients(
    const std::vector<PCLModelCoefficientMsg>& coefficients)
  {
    std::vector<pcl::ModelCoefficients::Ptr> ret;
    for (size_t i = 0; i < coefficients.size(); i++) {
      pcl::ModelCoefficients::Ptr pcl_coefficients (new pcl::ModelCoefficients);
      pcl_coefficients->values = coefficients[i].values;
      ret.push_back(pcl_coefficients);
    }
    return ret;
  }

  std::vector<PCLIndicesMsg>
  convertToROSPointIndices(
    const std::vector<pcl::PointIndices::Ptr> cluster_indices,
    const std_msgs::Header& header)
  {
    std::vector<PCLIndicesMsg> ret;
    for (size_t i = 0; i < cluster_indices.size(); i++) {
      PCLIndicesMsg ros_msg;
      ros_msg.header = header;
      ros_msg.indices = cluster_indices[i]->indices;
      ret.push_back(ros_msg);
    }
    return ret;
  }

  std::vector<PCLIndicesMsg>
  convertToROSPointIndices(
    const std::vector<pcl::PointIndices> cluster_indices,
    const std_msgs::Header& header)
  {
    std::vector<PCLIndicesMsg> ret;
    for (size_t i = 0; i < cluster_indices.size(); i++) {
      PCLIndicesMsg ros_msg;
      ros_msg.header = header;
      ros_msg.indices = cluster_indices[i].indices;
      ret.push_back(ros_msg);
    }
    return ret;
  }

  std::vector<PCLModelCoefficientMsg>
  convertToROSModelCoefficients(
    const std::vector<pcl::ModelCoefficients::Ptr>& coefficients,
    const std_msgs::Header& header)
  {
    std::vector<PCLModelCoefficientMsg> ret;
    for (size_t i = 0; i < coefficients.size(); i++) {
      PCLModelCoefficientMsg ros_msg;
      ros_msg.header = header;
      ros_msg.values = coefficients[i]->values;
      ret.push_back(ros_msg);
    }
    return ret;
  }
  
}


namespace tf
{
  void poseMsgToEigen(const geometry_msgs::Pose& msg, Eigen::Affine3f& eigen)
  {
    Eigen::Affine3d eigen_d;
    poseMsgToEigen(msg, eigen_d);
    jsk_pcl_ros::convertEigenAffine3(eigen_d, eigen);
  }
  
  void poseEigenToMsg(Eigen::Affine3f& eigen, geometry_msgs::Pose& msg)
  {
    Eigen::Affine3d eigen_d;
    jsk_pcl_ros::convertEigenAffine3(eigen, eigen_d);
    poseEigenToMsg(eigen_d, msg);
  }

  void transformMsgToEigen(const geometry_msgs::Transform& msg, Eigen::Affine3f& eigen)
  {
    Eigen::Affine3d eigen_d;
    transformMsgToEigen(msg, eigen_d);
    jsk_pcl_ros::convertEigenAffine3(eigen_d, eigen);
  }
  
  void transformEigenToMsg(Eigen::Affine3f& eigen, geometry_msgs::Transform& msg)
  {
    Eigen::Affine3d eigen_d;
    jsk_pcl_ros::convertEigenAffine3(eigen_d, eigen);
    transformEigenToMsg(eigen_d, msg);
  }

  void transformTFToEigen(const tf::Transform& t, Eigen::Affine3f& eigen)
  {
    Eigen::Affine3d eigen_d;
    transformTFToEigen(t, eigen_d);
    jsk_pcl_ros::convertEigenAffine3(eigen_d, eigen);
  }

  void transformEigenToTF(Eigen::Affine3f& eigen , tf::Transform& t)
  {
    Eigen::Affine3d eigen_d;
    jsk_pcl_ros::convertEigenAffine3(eigen, eigen_d);
    transformEigenToTF(eigen_d, t);
    
  }
}
