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

#include <pcl_ros/pcl_nodelet.h>
#include <sensor_msgs/PointCloud2.h>
#include <jsk_recognition_msgs/ClusterPointIndices.h>
#include <jsk_recognition_msgs/ModelCoefficientsArray.h>

#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>

#include "jsk_pcl_ros/pcl_conversion_util.h"
#include "jsk_pcl_ros/geo_util.h"
#include <jsk_pcl_ros/EdgeDepthRefinementConfig.h>
#include <dynamic_reconfigure/server.h>
#include <boost/tuple/tuple.hpp>

#include <jsk_topic_tools/connection_based_nodelet.h>

namespace jsk_pcl_ros
{
  class EdgeDepthRefinement: public jsk_topic_tools::ConnectionBasedNodelet
  {
  public:
    typedef message_filters::sync_policies::ExactTime<
    sensor_msgs::PointCloud2,
    jsk_recognition_msgs::ClusterPointIndices > SyncPolicy;
    typedef pcl::PointXYZRGB PointT;
    typedef jsk_pcl_ros::EdgeDepthRefinementConfig Config;
  protected:
    ////////////////////////////////////////////////////////
    // methods
    ////////////////////////////////////////////////////////
    virtual void onInit();
    
    virtual void refine(
      const sensor_msgs::PointCloud2ConstPtr &point,
      const jsk_recognition_msgs::ClusterPointIndicesConstPtr &indices);
    
    virtual void removeOutliersByLine(
      const pcl::PointCloud<PointT>::Ptr& cloud,
      const std::vector<int>& indices,
      pcl::PointIndices& inliers,
      pcl::ModelCoefficients& coefficients);
    
    virtual void removeOutliers(
      const pcl::PointCloud<PointT>::Ptr& cloud,
      const std::vector<PCLIndicesMsg>& indices,
      std::vector<pcl::PointIndices::Ptr>& output_inliers,
      std::vector<pcl::ModelCoefficients::Ptr>& output_coefficients);
    
    virtual void removeDuplicatedEdges(
      const pcl::PointCloud<PointT>::Ptr& cloud,
      const std::vector<pcl::PointIndices::Ptr> inliers,
      const std::vector<pcl::ModelCoefficients::Ptr> coefficients,
      std::vector<pcl::PointIndices::Ptr>& output_inliers,
      std::vector<pcl::ModelCoefficients::Ptr>& output_coefficients);
    
    virtual Line::Ptr lineFromCoefficients(
      const pcl::ModelCoefficients::Ptr coefficients);
    
    virtual Segment::Ptr segmentFromIndices(
      const pcl::PointCloud<PointT>::Ptr& cloud,
      const std::vector<int>& indices,
      const Line::Ptr& line);
    
    virtual void publishIndices(
      ros::Publisher& pub,
      ros::Publisher& pub_coefficients,
      const std::vector<pcl::PointIndices::Ptr> inliers,
      const std::vector<pcl::ModelCoefficients::Ptr> coefficients,
      const std_msgs::Header& header);
    
    virtual boost::tuple<int, int> findMinMaxIndex(
      const int width, const int height,
      const std::vector<int>& indices);
    
    virtual void integrateDuplicatedIndices(
      const pcl::PointCloud<PointT>::Ptr& cloud,
      const std::set<int>& duplicated_set,
      const std::vector<pcl::PointIndices::Ptr> all_inliers,
      pcl::PointIndices::Ptr& output_indices);
    
    virtual void configCallback (Config &config, uint32_t level);

    virtual void subscribe();
    virtual void unsubscribe();
    
    ////////////////////////////////////////////////////////
    // ROS variables
    ////////////////////////////////////////////////////////
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_;
    message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_indices_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
    ros::Publisher pub_indices_, pub_outlier_removed_indices_;
    ros::Publisher pub_coefficients_, pub_outlier_removed_coefficients_;
    boost::mutex mutex_;
    ////////////////////////////////////////////////////////
    // outlier removal
    ////////////////////////////////////////////////////////
    double outlier_distance_threshold_;
    int min_inliers_;
    ////////////////////////////////////////////////////////
    // duplication removal
    ////////////////////////////////////////////////////////
    double duplication_angle_threshold_;
    double duplication_distance_threshold_;
  private:
    
  };
}

#endif
