/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: extract_polygonal_prism_data.h 35361 2011-01-20 04:34:49Z rusu $
 *
 */

#ifndef PCL_ROS_EXTRACT_POLYGONAL_PRISM_DATA_H_
#define PCL_ROS_EXTRACT_POLYGONAL_PRISM_DATA_H_

#include "pcl_ros/pcl_nodelet.h"
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/pass_through.h>

// PCL includes
#include <pcl/segmentation/extract_polygonal_prism_data.h>

// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/ExtractPolygonalPrismDataConfig.h"

namespace pcl_ros
{
  namespace sync_policies = message_filters::sync_policies;

  /** \brief @b ExtractPolygonalPrismData uses a set of point indices that represent a planar model, and together with
    * a given height, generates a 3D polygonal prism. The polygonal prism is then used to segment all points lying
    * inside it.
    *
    * An example of its usage is to extract the data lying within a set of 3D boundaries (e.g., objects supported by a plane).
    * \author Radu Bogdan Rusu
    */
  class ExtractPolygonalPrismData : public PCLNodelet
  {
    typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
    typedef PointCloud::Ptr PointCloudPtr;
    typedef PointCloud::ConstPtr PointCloudConstPtr;

    protected:
       /** \brief The output PointIndices publisher. */
      ros::Publisher pub_output_;

      /** \brief The message filter subscriber for PointCloud2. */
      message_filters::Subscriber<PointCloud> sub_hull_filter_;

      /** \brief Synchronized input, planar hull, and indices.*/
      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointCloud, PointIndices> > > sync_input_hull_indices_e_;
      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointCloud, PointIndices> > > sync_input_hull_indices_a_;

      /** \brief Pointer to a dynamic reconfigure service. */
      boost::shared_ptr<dynamic_reconfigure::Server<ExtractPolygonalPrismDataConfig> > srv_;

      /** \brief Null passthrough filter, used for pushing empty elements in the 
        * synchronizer */
      message_filters::PassThrough<PointIndices> nf_;

      /** \brief Input point cloud callback.
        * Because we want to use the same synchronizer object, we push back
        * empty elements with the same timestamp.
        */
      inline void
      input_callback (const PointCloudConstPtr &input)
      {
        PointIndices cloud;
        cloud.header.stamp = pcl_conversions::fromPCL(input->header).stamp;
        nf_.add (boost::make_shared<PointIndices> (cloud));
      }

       /** \brief Nodelet initialization routine. */
      void onInit ();

      /** \brief Dynamic reconfigure callback
        * \param config the config object
        * \param level the dynamic reconfigure level
        */
      void config_callback (ExtractPolygonalPrismDataConfig &config, uint32_t level);

      /** \brief Input point cloud callback. Used when \a use_indices is set.
        * \param cloud the pointer to the input point cloud
        * \param hull the pointer to the planar hull point cloud
        * \param indices the pointer to the input point cloud indices
        */
      void input_hull_indices_callback (const PointCloudConstPtr &cloud, 
                                        const PointCloudConstPtr &hull, 
                                        const PointIndicesConstPtr &indices);

    private:
      /** \brief The PCL implementation used. */
      pcl::ExtractPolygonalPrismData<pcl::PointXYZ> impl_;
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif  //#ifndef PCL_EXTRACT_POLYGONAL_PRISM_DATA_H_
