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

#include <jsk_recognition_msgs/PolygonArray.h>
#include <jsk_recognition_msgs/ModelCoefficientsArray.h>
#include <jsk_recognition_msgs/ClusterPointIndices.h>

#include <jsk_pcl_ros/PlaneConcatenatorConfig.h>
#include <dynamic_reconfigure/server.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 "jsk_pcl_ros/geo_util.h"

namespace jsk_pcl_ros
{
  class PlaneConcatenator: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef boost::shared_ptr<PlaneConcatenator> Ptr;
    typedef PlaneConcatenatorConfig Config;
    typedef pcl::PointXYZRGB PointT;
    typedef message_filters::sync_policies::ExactTime<
      sensor_msgs::PointCloud2,
      jsk_recognition_msgs::ClusterPointIndices,
      jsk_recognition_msgs::PolygonArray,
      jsk_recognition_msgs::ModelCoefficientsArray
      > SyncPolicy;
    PlaneConcatenator(): DiagnosticNodelet("PlaneConcatenator") {}
    
  protected:
    ////////////////////////////////////////////////////////
    // methods
    ////////////////////////////////////////////////////////
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void updateDiagnostic(
      diagnostic_updater::DiagnosticStatusWrapper &stat);
    virtual void concatenate(
      const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
      const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& indices_msg,
      const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_array_msg,
      const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients_array_msg);
    virtual void configCallback(Config &config, uint32_t level);
    virtual bool isNearPointCloud(
      pcl::KdTreeFLANN<PointT>& kdtree,
      pcl::PointCloud<PointT>::Ptr cloud);
    virtual pcl::ModelCoefficients::Ptr refinement(
      pcl::PointCloud<PointT>::Ptr cloud,
      pcl::PointIndices::Ptr indices,
      pcl::ModelCoefficients::Ptr original_coefficients);
    ////////////////////////////////////////////////////////
    // ROS variables
    ////////////////////////////////////////////////////////
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_cloud_;
    message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_indices_;
    message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygon_;
    message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
    boost::mutex mutex_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    ros::Publisher pub_indices_;
    ros::Publisher pub_polygon_;
    ros::Publisher pub_coefficients_;
    ////////////////////////////////////////////////////////
    // parameters
    ////////////////////////////////////////////////////////
    double connect_angular_threshold_;
    double connect_distance_threshold_;
    int ransac_refinement_max_iteration_;
    double ransac_refinement_outlier_threshold_;
    double ransac_refinement_eps_distance_;
    double ransac_refinement_eps_angle_;
    int min_size_;
  private:
    
  };
}
#endif
