// -*- mode: c++ -*-
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2014, JSK Lab
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#include "jsk_pcl_ros_utils/pointcloud_to_cluster_point_indices.h"

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>

namespace jsk_pcl_ros_utils
{
  void PointCloudToClusterPointIndices::onInit()
  {
    DiagnosticNodelet::onInit();
    pub_ = advertise<jsk_recognition_msgs::ClusterPointIndices>(*pnh_, "output", 1);
    pnh_->param<bool>("skip_nan", skip_nan_, false);
    onInitPostProcess();
  }

  void PointCloudToClusterPointIndices::subscribe()
  {
    sub_ = pnh_->subscribe(
      "input", 1, &PointCloudToClusterPointIndices::convert, this);
  }

  void PointCloudToClusterPointIndices::unsubscribe()
  {
    sub_.shutdown();
  }

  void PointCloudToClusterPointIndices::convert(
    const sensor_msgs::PointCloud2::ConstPtr& msg)
  {
    vital_checker_->poke();
    pcl::PointCloud<pcl::PointXYZRGB> cloud;
    pcl::fromROSMsg(*msg, cloud);
    int point_num = msg->width * msg->height;
    pcl_msgs::PointIndices indices;
    jsk_recognition_msgs::ClusterPointIndices cluster_indices;
    for (int i = 0; i < point_num; i++) {
      if (skip_nan_ &&
          (std::isnan(cloud.points[i].x) || std::isnan(cloud.points[i].y) || std::isnan(cloud.points[i].z)))
      {
        continue;
      }
      indices.indices.push_back(i);
    }
    indices.header = msg->header;
    cluster_indices.header = msg->header;
    cluster_indices.cluster_indices.push_back(indices);
    pub_.publish(cluster_indices);
  }
}

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros_utils::PointCloudToClusterPointIndices,
                        nodelet::Nodelet);

