// -*- mode: c++ -*-
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 *
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#include "jsk_perception/bounding_rect_mask_image.h"
#include <boost/assign.hpp>
#include <jsk_recognition_utils/cv_utils.h>
#include <opencv2/opencv.hpp>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>

namespace jsk_perception
{
  void BoundingRectMaskImage::onInit()
  {
    DiagnosticNodelet::onInit();
    pub_ = advertise<sensor_msgs::Image>(*pnh_, "output", 1);
    onInitPostProcess();
  }

  void BoundingRectMaskImage::subscribe()
  {
    sub_ = pnh_->subscribe("input", 1, &BoundingRectMaskImage::convert, this);
    ros::V_string names = boost::assign::list_of("~input");
    jsk_topic_tools::warnNoRemap(names);
  }

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

  void BoundingRectMaskImage::convert(
    const sensor_msgs::Image::ConstPtr& mask_msg)
  {
    vital_checker_->poke();
    cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(
      mask_msg, sensor_msgs::image_encodings::MONO8);
    cv::Mat mask = cv_ptr->image;

    // Find contour
    std::vector<std::vector<cv::Point> > contours;
    cv::findContours(mask, contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);

    if (contours.size() == 0) {
      NODELET_ERROR_THROTTLE(30, "[%s] Skipping because no contour is found", __PRETTY_FUNCTION__);
      return;
    }

    // Find max area to create mask later
    boost::tuple<int, double> max_area;
    for (size_t i = 0; i < contours.size(); i++) {
      double area = cv::contourArea(contours[i]);
      if (area > max_area.get<1>()) {
        max_area = boost::make_tuple<int, double>(i, area);
      }
    }

    // Find bounding rect
    std::vector<cv::Point> max_area_contour = contours[max_area.get<0>()];
    cv::Rect rect = cv::boundingRect(cv::Mat(max_area_contour));

    // Draw bounding rect mask
    cv::Mat rect_mask = cv::Mat::zeros(mask_msg->height, mask_msg->width, CV_8UC1);
    cv::rectangle(rect_mask, rect, cv::Scalar(255), CV_FILLED);

    pub_.publish(cv_bridge::CvImage(
                    mask_msg->header,
                    sensor_msgs::image_encodings::MONO8,
                    rect_mask).toImageMsg());
  }

}  // namespace jsk_perception

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