// -*- mode: c++ -*-
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 *
 *  Copyright (c) 2015, JSK Lab
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#include "jsk_perception/rgb_decomposer.h"
#include <boost/assign.hpp>
#include <jsk_topic_tools/log_utils.h>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/opencv.hpp>

namespace jsk_perception
{
  void RGBDecomposer::onInit()
  {
    DiagnosticNodelet::onInit();
    pub_r_ = advertise<sensor_msgs::Image>(*pnh_, "output/red", 1);
    pub_g_ = advertise<sensor_msgs::Image>(*pnh_, "output/green", 1);
    pub_b_ = advertise<sensor_msgs::Image>(*pnh_, "output/blue", 1);
    onInitPostProcess();
  }

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

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

  void RGBDecomposer::decompose(
    const sensor_msgs::Image::ConstPtr& image_msg)
  {
    if ((image_msg->width == 0) && (image_msg->height == 0)) {
        ROS_WARN("invalid image input");
        return;
    }
    cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(
      image_msg, image_msg->encoding);
    cv::Mat image = cv_ptr->image;
    if (image_msg->encoding == sensor_msgs::image_encodings::RGB8) {
      cv::cvtColor(image, image, CV_RGB2BGR);
    }
    std::vector<cv::Mat> bgr_planes;
    cv::split(image, bgr_planes);
    cv::Mat red = bgr_planes[2];
    cv::Mat blue = bgr_planes[0];
    cv::Mat green = bgr_planes[1];
    pub_r_.publish(cv_bridge::CvImage(
                     image_msg->header,
                     sensor_msgs::image_encodings::MONO8,
                     red).toImageMsg());
    pub_g_.publish(cv_bridge::CvImage(
                     image_msg->header,
                     sensor_msgs::image_encodings::MONO8,
                     green).toImageMsg());
    pub_b_.publish(cv_bridge::CvImage(
                     image_msg->header,
                     sensor_msgs::image_encodings::MONO8,
                     blue).toImageMsg());
  }
}

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