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

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>

#include <sensor_msgs/Image.h>
#include <geometry_msgs/PolygonStamped.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/PointCloud2.h>

#include <image_geometry/pinhole_camera_model.h>
#include "jsk_pcl_ros/geo_util.h"
#include <dynamic_reconfigure/server.h>
#include <jsk_pcl_ros/HintedStickFinderConfig.h>

namespace jsk_pcl_ros
{
  class HintedStickFinder: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef message_filters::sync_policies::ApproximateTime<
    geometry_msgs::PolygonStamped, // line
    sensor_msgs::CameraInfo,       // camera info
    sensor_msgs::PointCloud2> ASyncPolicy;
    typedef HintedStickFinderConfig Config;
    HintedStickFinder(): DiagnosticNodelet("HintedStickFinder") {}
  protected:

    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void configCallback(Config &config, uint32_t level);
    
    virtual void detect(
      const geometry_msgs::PolygonStamped::ConstPtr& polygon_msg,
      const sensor_msgs::CameraInfo::ConstPtr& camera_info_msg,
      const sensor_msgs::PointCloud2::ConstPtr& cloud_msg);

    virtual ConvexPolygon::Ptr polygonFromLine(
      const geometry_msgs::PolygonStamped::ConstPtr& polygon_msg,
      const image_geometry::PinholeCameraModel& model,
      Eigen::Vector3f& a,
      Eigen::Vector3f& b);
    
    virtual void filterPointCloud(
      const pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud,
      const ConvexPolygon::Ptr polygon,
      pcl::PointIndices& output_indices);
    virtual void normalEstimate(
      const pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud,
      const pcl::PointIndices::Ptr indices,
      pcl::PointCloud<pcl::Normal>& normals,
      pcl::PointCloud<pcl::PointXYZ>& normals_cloud);
    
    virtual void fittingCylinder(
      const pcl::PointCloud<pcl::PointXYZ>::Ptr& filtered_cloud,
      const pcl::PointCloud<pcl::Normal>::Ptr& cloud_nromals,
      const Eigen::Vector3f& a,
      const Eigen::Vector3f& b);
    
    boost::mutex mutex_;
    
    message_filters::Subscriber<geometry_msgs::PolygonStamped> sub_polygon_;
    message_filters::Subscriber<sensor_msgs::CameraInfo> sub_info_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_cloud_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_normal_;
    boost::shared_ptr<message_filters::Synchronizer<ASyncPolicy> > sync_;

    ros::Publisher pub_line_filtered_indices_;
    ros::Publisher pub_line_filtered_normal_;
    ros::Publisher pub_cylinder_marker_;
    ros::Publisher pub_cylinder_pose_;
    ros::Publisher pub_inliers_;
    ros::Publisher pub_coefficients_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    
    double max_radius_;
    double min_radius_;
    double filter_distance_;
    double outlier_threshold_;
    int max_iteration_;
    double eps_angle_;
    double min_probability_;
    int cylinder_fitting_trial_;
    int min_inliers_;
  private:
    
  };
}

#endif
