// -*- mode: c++ -*-
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2014, JSK Lab
 *  All rights reserved.
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#include <jsk_topic_tools/log_utils.h>
#include "jsk_pcl_ros_utils/transform_pointcloud_in_bounding_box.h"
#include <eigen_conversions/eigen_msg.h>
#include "jsk_recognition_utils/pcl_conversion_util.h"
#include <pcl/common/transforms.h>

namespace jsk_pcl_ros_utils
{  
  void TransformPointcloudInBoundingBox::onInit()
  {
    PCLNodelet::onInit();
    tf_listener_ = jsk_recognition_utils::TfListenerSingleton::getInstance();
    ////////////////////////////////////////////////////////
    // pulishers
    ////////////////////////////////////////////////////////
    pub_cloud_ = pnh_->advertise<sensor_msgs::PointCloud2>("output", 1);
    pub_offset_pose_ = pnh_->advertise<geometry_msgs::PoseStamped>(
      "output_offset", 1);

    ////////////////////////////////////////////////////////
    // Subscription
    ////////////////////////////////////////////////////////
    sub_input_.subscribe(*pnh_, "input", 1);
    sub_box_.subscribe(*pnh_, "input_box", 1);
    sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
    sync_->connectInput(sub_input_, sub_box_);
    sync_->registerCallback(boost::bind(
                              &TransformPointcloudInBoundingBox::transform,
                              this, _1, _2));
  }

  TransformPointcloudInBoundingBox::~TransformPointcloudInBoundingBox() {
    // message_filters::Synchronizer needs to be called reset
    // before message_filters::Subscriber is freed.
    // Calling reset fixes the following error on shutdown of the nodelet:
    // terminate called after throwing an instance of
    // 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
    //     what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
    // Also see https://github.com/ros/ros_comm/issues/720 .
    sync_.reset();
  }

  void TransformPointcloudInBoundingBox::transform(
    const sensor_msgs::PointCloud2::ConstPtr& msg,
    const jsk_recognition_msgs::BoundingBox::ConstPtr& box_msg)
  {
    try
    {
      pcl::PointCloud<PointT> output;
      Eigen::Affine3f offset;
      transformPointcloudInBoundingBox<PointT>(
        *box_msg, *msg,
        output, offset,
        *tf_listener_);
      sensor_msgs::PointCloud2 ros_output;
      pcl::toROSMsg(output, ros_output);
      pub_cloud_.publish(ros_output);
      //pub_offset_pose_.publish(box_pose_respected_to_cloud);
    }
    catch (tf2::ConnectivityException &e)
    {
      NODELET_ERROR("[%s] Transform error: %s", __PRETTY_FUNCTION__, e.what());
    }
    catch (tf2::InvalidArgumentException &e)
    {
      NODELET_ERROR("[%s] Transform error: %s", __PRETTY_FUNCTION__, e.what());
    }
  }
}

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