// -*- mode: c++ -*-
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#include <pcl_ros/publisher.h>
#include "jsk_pcl_ros/bilateral_filter.h"
// on hydro, we cannot include this header because of bug of pcl
//#include <pcl/point_types_conversion.h> 
#include <pcl/filters/bilateral.h>
#include <pcl/filters/fast_bilateral.h>
#include <pcl/filters/fast_bilateral_omp.h>

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

    pub_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output", 1);
  }

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

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

  void BilateralFilter::filter(const sensor_msgs::PointCloud2::ConstPtr& msg)
  {
    boost::mutex::scoped_lock lock(mutex_);
    pcl::PointCloud<PointT>::Ptr cloud (new pcl::PointCloud<PointT>);
    pcl::PointCloud<PointT>::Ptr
      output (new pcl::PointCloud<PointT>);
    pcl::fromROSMsg(*msg, *cloud);
    pcl::FastBilateralFilter<PointT> bilateral;
    
    bilateral.setInputCloud(cloud);
    bilateral.setSigmaS(sigma_s_);
    bilateral.setSigmaR(sigma_r_);
    bilateral.filter(*output);
    sensor_msgs::PointCloud2 ros_output;
    pcl::toROSMsg(*output, ros_output);
    ros_output.header = msg->header;
    // hmm,,, is it keep organized??
    pub_.publish(ros_output);
  }

  void BilateralFilter::configCallback(Config &config, uint32_t level)
  {
    boost::mutex::scoped_lock lock(mutex_);
    sigma_s_ = config.sigma_s;
    sigma_r_ = config.sigma_r;
  }
  
}

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