// -*- mode: C++ -*-
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#ifndef JSK_PCL_ROS_UTILS_POINTCLOUD_TO_STL_H_
#define JSK_PCL_ROS_UTILS_POINTCLOUD_TO_STL_H_

// ros
#include <ros/ros.h>
#include <ros/names.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_broadcaster.h>
#include <jsk_recognition_msgs/SetPointCloud2.h>
#include <visualization_msgs/Marker.h>

// pcl
#include <pcl_ros/pcl_nodelet.h>
#include <pcl/point_types.h>
#include <pcl/surface/organized_fast_mesh.h>

namespace jsk_pcl_ros_utils
{
  class PointCloudToSTL: public pcl_ros::PCLNodelet
  {
  public:
    PointCloudToSTL(){}
  protected:
    virtual void onInit();
    virtual void cloudCallback(const sensor_msgs::PointCloud2::ConstPtr& input);
    virtual void exportSTL(const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr  &cloud);
    virtual bool createSTL(jsk_recognition_msgs::SetPointCloud2::Request &req,
                           jsk_recognition_msgs::SetPointCloud2::Response &res);

    ros::Publisher pub_mesh_;
    ros::Subscriber sub_input_;
    ros::ServiceServer create_stl_srv_;

    std::string frame_;
    double search_radius_;
    double mu_;
    int maximum_nearest_neighbors_;
    double maximum_surface_angle_;
    double minimum_angle_;
    double maximum_angle_;
    bool normal_consistency_;
    bool store_shadow_faces_;

    double triangle_pixel_size_;
    double max_edge_length_;
    std::string file_name_;
    std::string latest_output_path_;
    pcl::OrganizedFastMesh<pcl::PointXYZRGB> ofm;

  private:
  };
}

#endif
