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

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

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

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

  void ColorizeLabels::colorize(
    const sensor_msgs::Image::ConstPtr& label_image_msg)
  {
    cv::Mat label_image = cv_bridge::toCvShare(
      label_image_msg, label_image_msg->encoding)->image;
    ROS_DEBUG("%dx%d", label_image_msg->width, label_image_msg->height);
    cv::Mat output_image;
    jsk_recognition_utils::labelToRGB(label_image, output_image);
    cv::cvtColor(output_image, output_image, CV_RGB2BGR);
    pub_.publish(
      cv_bridge::CvImage(
        label_image_msg->header,
        sensor_msgs::image_encodings::BGR8,
        output_image).toImageMsg());
  }
}

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