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 * $Id: extract_clusters.hpp 32052 2010-08-27 02:19:30Z rusu $
 *
 */

#include <pluginlib/class_list_macros.h>
#include <pcl/PointIndices.h>
#include "pcl_ros/segmentation/extract_clusters.h"

#include <pcl_conversions/pcl_conversions.h>

using pcl_conversions::fromPCL;
using pcl_conversions::moveFromPCL;
using pcl_conversions::toPCL;

//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::EuclideanClusterExtraction::onInit ()
{
  // Call the super onInit ()
  PCLNodelet::onInit ();

  // ---[ Mandatory parameters
  double cluster_tolerance;
  if (!pnh_->getParam ("cluster_tolerance", cluster_tolerance))
  {
    NODELET_ERROR ("[%s::onInit] Need a 'cluster_tolerance' parameter to be set before continuing!", getName ().c_str ()); 
    return;
  }
  int spatial_locator;
  if (!pnh_->getParam ("spatial_locator", spatial_locator))
  {
    NODELET_ERROR ("[%s::onInit] Need a 'spatial_locator' parameter to be set before continuing!", getName ().c_str ());
    return;
  }

  //private_nh.getParam ("use_indices", use_indices_);
  pnh_->getParam ("publish_indices", publish_indices_);

  if (publish_indices_)
    pub_output_ = advertise<PointIndices> (*pnh_, "output", max_queue_size_);
  else
    pub_output_ = advertise<PointCloud> (*pnh_, "output", max_queue_size_);

  // Enable the dynamic reconfigure service
  srv_ = boost::make_shared <dynamic_reconfigure::Server<EuclideanClusterExtractionConfig> > (*pnh_);
  dynamic_reconfigure::Server<EuclideanClusterExtractionConfig>::CallbackType f =  boost::bind (&EuclideanClusterExtraction::config_callback, this, _1, _2);
  srv_->setCallback (f);

  NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
                 " - max_queue_size    : %d\n"
                 " - use_indices       : %s\n"
                 " - cluster_tolerance : %f\n",
                 getName ().c_str (),
                 max_queue_size_,
                 (use_indices_) ? "true" : "false", cluster_tolerance);

  // Set given parameters here
  impl_.setClusterTolerance (cluster_tolerance);

  onInitPostProcess ();
}

//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::EuclideanClusterExtraction::subscribe ()
{
  // If we're supposed to look for PointIndices (indices)
  if (use_indices_)
  {
    // Subscribe to the input using a filter
    sub_input_filter_.subscribe (*pnh_, "input", max_queue_size_);
    sub_indices_filter_.subscribe (*pnh_, "indices", max_queue_size_);

    if (approximate_sync_)
    {
      sync_input_indices_a_ = boost::make_shared <message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<PointCloud, PointIndices> > > (max_queue_size_);
      sync_input_indices_a_->connectInput (sub_input_filter_, sub_indices_filter_);
      sync_input_indices_a_->registerCallback (bind (&EuclideanClusterExtraction::input_indices_callback, this, _1, _2));
    }
    else
    {
      sync_input_indices_e_ = boost::make_shared <message_filters::Synchronizer<message_filters::sync_policies::ExactTime<PointCloud, PointIndices> > > (max_queue_size_);
      sync_input_indices_e_->connectInput (sub_input_filter_, sub_indices_filter_);
      sync_input_indices_e_->registerCallback (bind (&EuclideanClusterExtraction::input_indices_callback, this, _1, _2));
    }
  }
  else
    // Subscribe in an old fashion to input only (no filters)
    sub_input_ = pnh_->subscribe<PointCloud> ("input", max_queue_size_, bind (&EuclideanClusterExtraction::input_indices_callback, this, _1, PointIndicesConstPtr ()));
}

//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::EuclideanClusterExtraction::unsubscribe ()
{
  if (use_indices_)
  {
    sub_input_filter_.unsubscribe ();
    sub_indices_filter_.unsubscribe ();
  }
  else
    sub_input_.shutdown ();
}

//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::EuclideanClusterExtraction::config_callback (EuclideanClusterExtractionConfig &config, uint32_t /*level*/)
{
  if (impl_.getClusterTolerance () != config.cluster_tolerance)
  {
    impl_.setClusterTolerance (config.cluster_tolerance);
    NODELET_DEBUG ("[%s::config_callback] Setting new clustering tolerance to: %f.", getName ().c_str (), config.cluster_tolerance);
  }
  if (impl_.getMinClusterSize () != config.cluster_min_size)
  {
    impl_.setMinClusterSize (config.cluster_min_size);
    NODELET_DEBUG ("[%s::config_callback] Setting the minimum cluster size to: %d.", getName ().c_str (), config.cluster_min_size);
  }
  if (impl_.getMaxClusterSize () != config.cluster_max_size)
  {
    impl_.setMaxClusterSize (config.cluster_max_size);
    NODELET_DEBUG ("[%s::config_callback] Setting the maximum cluster size to: %d.", getName ().c_str (), config.cluster_max_size);
  }
  if (max_clusters_ != config.max_clusters)
  {
    max_clusters_ = config.max_clusters;
    NODELET_DEBUG ("[%s::config_callback] Setting the maximum number of clusters to extract to: %d.", getName ().c_str (), config.max_clusters);
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::EuclideanClusterExtraction::input_indices_callback (
      const PointCloudConstPtr &cloud, const PointIndicesConstPtr &indices)
{
  // No subscribers, no work
  if (pub_output_.getNumSubscribers () <= 0)
    return;

  // If cloud is given, check if it's valid
  if (!isValid (cloud))
  {
    NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ());
    return;
  }
  // If indices are given, check if they are valid
  if (indices && !isValid (indices))
  {
    NODELET_ERROR ("[%s::input_indices_callback] Invalid indices!", getName ().c_str ());
    return;
  }

  /// DEBUG
  if (indices) {
    std_msgs::Header cloud_header = fromPCL(cloud->header);
    std_msgs::Header indices_header = indices->header;
    NODELET_DEBUG ("[%s::input_indices_callback]\n"
                   "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                   "                                 - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
                   getName ().c_str (),
                   cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud_header.stamp.toSec (), cloud_header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
                   indices->indices.size (), indices_header.stamp.toSec (), indices_header.frame_id.c_str (), pnh_->resolveName ("indices").c_str ());
  } else {
    NODELET_DEBUG ("[%s::input_callback] PointCloud with %d data points, stamp %f, and frame %s on topic %s received.", getName ().c_str (), cloud->width * cloud->height, fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str ());
  }
  ///

  IndicesPtr indices_ptr;
  if (indices)
    indices_ptr.reset (new std::vector<int> (indices->indices));

  impl_.setInputCloud (pcl_ptr(cloud));
  impl_.setIndices (indices_ptr);

  std::vector<pcl::PointIndices> clusters;
  impl_.extract (clusters);

  if (publish_indices_)
  {
    for (size_t i = 0; i < clusters.size (); ++i)
    {
      if ((int)i >= max_clusters_)
        break;
      // TODO: HACK!!! We need to change the PointCloud2 message to add for an incremental sequence ID number.
      pcl_msgs::PointIndices ros_pi;
      moveFromPCL(clusters[i], ros_pi);
      ros_pi.header.stamp += ros::Duration (i * 0.001);
      pub_output_.publish (ros_pi);
    }

    NODELET_DEBUG ("[segmentAndPublish] Published %zu clusters (PointIndices) on topic %s", clusters.size (), pnh_->resolveName ("output").c_str ());
  }
  else
  {
    for (size_t i = 0; i < clusters.size (); ++i)
    {
      if ((int)i >= max_clusters_)
        break;
      PointCloud output;
      copyPointCloud (*cloud, clusters[i].indices, output);

      //PointCloud output_blob;     // Convert from the templated output to the PointCloud blob
      //pcl::toROSMsg (output, output_blob);
      // TODO: HACK!!! We need to change the PointCloud2 message to add for an incremental sequence ID number.
      std_msgs::Header header = fromPCL(output.header);
      header.stamp += ros::Duration (i * 0.001);
      toPCL(header, output.header);
      // Publish a Boost shared ptr const data
      pub_output_.publish (ros_ptr(output.makeShared ()));
      NODELET_DEBUG ("[segmentAndPublish] Published cluster %zu (with %zu values and stamp %f) on topic %s",
                     i, clusters[i].indices.size (), header.stamp.toSec (), pnh_->resolveName ("output").c_str ());
    }
  }
}

typedef pcl_ros::EuclideanClusterExtraction EuclideanClusterExtraction;
PLUGINLIB_EXPORT_CLASS(EuclideanClusterExtraction, nodelet::Nodelet)

