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

#include <dynamic_reconfigure/server.h>
#include "jsk_pcl_ros/RegionGrowingMultiplePlaneSegmentationConfig.h"
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/synchronizer.h>
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include "jsk_pcl_ros/geo_util.h"
#include "jsk_recognition_msgs/PolygonArray.h"
#include "jsk_recognition_msgs/ClusterPointIndices.h"
#include "jsk_recognition_msgs/ModelCoefficientsArray.h"

namespace jsk_pcl_ros
{
  class RegionGrowingMultiplePlaneSegmentation:
    public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef pcl::PointXYZRGB PointT;
    typedef RegionGrowingMultiplePlaneSegmentationConfig
    Config;
    typedef message_filters::sync_policies::ExactTime<
      sensor_msgs::PointCloud2,
      sensor_msgs::PointCloud2 > NormalSyncPolicy;
    RegionGrowingMultiplePlaneSegmentation()
      : DiagnosticNodelet("RegionGrowingMultiplePlaneSegmentation") {}
    
  protected:
    ////////////////////////////////////////////////////////
    // methods
    ////////////////////////////////////////////////////////
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void segment(
      const sensor_msgs::PointCloud2::ConstPtr& msg,
      const sensor_msgs::PointCloud2::ConstPtr& normal_msg);
    virtual void configCallback (Config &config, uint32_t level);
    virtual void updateDiagnostic(
      diagnostic_updater::DiagnosticStatusWrapper &stat);
    ////////////////////////////////////////////////////////
    // static methods
    ////////////////////////////////////////////////////////
    // static method
    static void setCondifionFunctionParameter(
      const double angular_threshold,
      const double distance_threshold)
    {
      global_angular_threshold = angular_threshold;
      global_distance_threshold = distance_threshold;
    }
    virtual void ransacEstimation(
      const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &cloud,
      const pcl::PointIndices::Ptr& indices,
      pcl::PointIndices& inliers,
      pcl::ModelCoefficients& coefficient);
    
    static bool regionGrowingFunction(const pcl::PointXYZRGBNormal& a,
                                      const pcl::PointXYZRGBNormal& b,
                                      float distance)
    {
      if (distance > global_distance_threshold) {
        return false;
      }
      else {
        Eigen::Vector3f a_normal(a.normal_x, a.normal_y, a.normal_z);
        Eigen::Vector3f b_normal(b.normal_x, b.normal_y, b.normal_z);
        double dot = std::abs(a_normal.dot(b_normal));
        double angle;
        if (dot > 1.0) {
          angle = acos(1.0);
        }
        else if (dot < -1.0) {
          angle = acos(-1.0);
        }
        else {
          angle = acos(dot);
        }
        //ROS_INFO("angle: %f", angle);
        if (angle > global_angular_threshold) {
          return false;
        }
        else {
          return true;
        }
      }
    }
    
    ////////////////////////////////////////////////////////
    // ROS variables
    ////////////////////////////////////////////////////////
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_normal_;
    boost::shared_ptr<
      message_filters::Synchronizer<NormalSyncPolicy> > sync_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    ros::Publisher pub_polygons_;
    ros::Publisher pub_inliers_;
    ros::Publisher pub_coefficients_;
    boost::mutex mutex_;
    
    ////////////////////////////////////////////////////////
    // Parameters
    ////////////////////////////////////////////////////////
    double angular_threshold_;
    double distance_threshold_;
    double max_curvature_;
    int min_size_;
    int max_size_;
    double cluster_tolerance_;
    double ransac_refine_outlier_distance_threshold_;
    int ransac_refine_max_iterations_;
    ////////////////////////////////////////////////////////
    // static parameters
    ////////////////////////////////////////////////////////
    static double global_angular_threshold;
    static double global_distance_threshold;
    static boost::mutex global_custom_condigion_function_mutex;
  private:
    
  };
}

#endif
