// -*- mode: c++ -*-
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#include "jsk_perception/color_histogram_label_match.h"
#include <boost/assign.hpp>
#include <jsk_topic_tools/log_utils.h>
#include <cv_bridge/cv_bridge.h>
#include <jsk_topic_tools/color_utils.h>
#include <sensor_msgs/image_encodings.h>

namespace jsk_perception
{
  void ColorHistogramLabelMatch::onInit()
  {
    DiagnosticNodelet::onInit();
    srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
    dynamic_reconfigure::Server<Config>::CallbackType f =
      boost::bind (
        &ColorHistogramLabelMatch::configCallback, this, _1, _2);
    srv_->setCallback (f);
    pnh_->param("use_mask", use_mask_, false);
    pub_debug_ = advertise<sensor_msgs::Image>(
      *pnh_, "debug", 1);
    pub_coefficient_image_ = advertise<sensor_msgs::Image>(
      *pnh_, "output/coefficient_image", 1);
    pub_result_ = advertise<sensor_msgs::Image>(
      *pnh_, "output/extracted_region", 1);
    onInitPostProcess();
  }

  ColorHistogramLabelMatch::~ColorHistogramLabelMatch() {
    // 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();
    sync_wo_mask_.reset();
  }

  void ColorHistogramLabelMatch::subscribe()
  {
    sub_image_.subscribe(*pnh_, "input", 1);
    sub_label_.subscribe(*pnh_, "input/label", 1);
    ros::V_string names = boost::assign::list_of("~input")("~input/label");
    if (use_mask_) {
      sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
      sub_mask_.subscribe(*pnh_, "input/mask", 1);
      names.push_back("~input/mask");
      sync_->connectInput(sub_image_, sub_label_, sub_mask_);
      sync_->registerCallback(
        boost::bind(
          &ColorHistogramLabelMatch::match, this, _1, _2, _3));
    }
    else {
      sync_wo_mask_ = boost::make_shared<message_filters::Synchronizer<SyncPolicyWithoutMask> >(100);
      sync_wo_mask_->connectInput(sub_image_, sub_label_);
      sync_wo_mask_->registerCallback(
        boost::bind(
          &ColorHistogramLabelMatch::match, this, _1, _2));
    }
    sub_histogram_ = pnh_->subscribe(
      "input/histogram", 1, &ColorHistogramLabelMatch::histogramCallback, this);
    names.push_back("~input/histogram");
    jsk_topic_tools::warnNoRemap(names);
  }

  void ColorHistogramLabelMatch::unsubscribe()
  {
    sub_image_.unsubscribe();
    sub_label_.unsubscribe();
    if (use_mask_) {
      sub_mask_.unsubscribe();
    }
    sub_histogram_.shutdown();
  }

  void ColorHistogramLabelMatch::getLabels(const cv::Mat& label,
                                           std::vector<int>& keys)
  {
    std::map<int, bool> map;
    for (int j = 0; j < label.rows; j++) {
      for (int i = 0; i < label.cols; i++) {
        int label_value = label.at<int>(j, i);
        if (map.find(label_value) == map.end()) {
          map[label_value] = true;
        }
      }
    }

    for (std::map<int, bool>::iterator it = map.begin();
         it != map.end();
         ++it) {
      keys.push_back(it->first);
    }
  }

  void ColorHistogramLabelMatch::getMaskImage(const cv::Mat& label_image,
                                              const int label,
                                              cv::Mat& mask)
  {
    for (int j = 0; j < label_image.rows; j++) {
      for (int i = 0; i < label_image.cols; i++) {
        if (label_image.at<int>(j, i) == label) {
          mask.at<uchar>(j, i) = 255;
        }
      }
    }
  }

  bool ColorHistogramLabelMatch::isMasked(
    const cv::Mat& original_image,
    const cv::Mat& masked_image)
  {
    int original_count = 0;
    int masked_count = 0;
    for (int j = 0; j < original_image.rows; j++) {
      for (int i = 0; i < original_image.cols; i++) {
        if (original_image.at<uchar>(j, i) != 0) {
          original_count++;
        }
        if (masked_image.at<uchar>(j, i) != 0) {
          masked_count++;
        }
      }
    }
    return original_count != masked_count;
  }
  
  void ColorHistogramLabelMatch::match(
    const sensor_msgs::Image::ConstPtr& image_msg,
    const sensor_msgs::Image::ConstPtr& label_msg)
  {
    cv::Mat whole_mask = cv::Mat(image_msg->height,
                                 image_msg->width, CV_8UC1, cv::Scalar(255));
    sensor_msgs::Image::ConstPtr mask_msg
      = cv_bridge::CvImage(image_msg->header,
                           sensor_msgs::image_encodings::MONO8,
                           whole_mask).toImageMsg();
    match(image_msg, label_msg, mask_msg);
  }


  void ColorHistogramLabelMatch::match(
    const sensor_msgs::Image::ConstPtr& image_msg,
    const sensor_msgs::Image::ConstPtr& label_msg,
    const sensor_msgs::Image::ConstPtr& mask_msg)
  {
    boost::mutex::scoped_lock lock(mutex_);
    if (histogram_.empty()) {
      NODELET_DEBUG("no reference histogram is available");
      return;
    }
    
    cv::Mat image
      = cv_bridge::toCvShare(image_msg, image_msg->encoding)->image;
    cv::Mat label
      = cv_bridge::toCvShare(label_msg, label_msg->encoding)->image;
    cv::Mat whole_mask
      = cv_bridge::toCvShare(mask_msg, mask_msg->encoding)->image;
    
    cv::Mat coefficient_image = cv::Mat::zeros(
      image_msg->height, image_msg->width, CV_32FC1);
    std::vector<int> labels;
    getLabels(label, labels);
    
    cv::Mat coefficients_heat_image = cv::Mat::zeros(
      image_msg->height, image_msg->width, CV_8UC3); // BGR8
    int hist_size = histogram_.cols;
    float range[] = { min_value_, max_value_ };
    const float* hist_range = { range };
    double min_coef = DBL_MAX;
    double max_coef = - DBL_MAX;
    for (size_t i = 0; i < labels.size(); i++) {
      int label_index = labels[i];
      cv::Mat label_mask = cv::Mat::zeros(label.rows, label.cols, CV_8UC1);
      getMaskImage(label, label_index, label_mask);
      double coef = 0.0;
      // get label_mask & whole_mask and check is it all black or not
      cv::Mat masked_label;
      label_mask.copyTo(masked_label, whole_mask);
      if (isMasked(label_mask, masked_label)) {
        coef = masked_coefficient_;
      }
      else {
        cv::MatND hist;
        bool uniform = true; bool accumulate = false;
        cv::calcHist(&image, 1, 0, label_mask, hist, 1,
                     &hist_size, &hist_range, uniform, accumulate);
        cv::normalize(hist, hist, 1, hist.rows, cv::NORM_L2, -1,
                      cv::Mat());
        cv::Mat hist_mat = cv::Mat::zeros(1, hist_size, CV_32FC1);
        for (size_t j = 0; j < hist_size; j++) {
          hist_mat.at<float>(0, j) = hist.at<float>(0, j);
        }
        //cv::Mat hist_mat = hist;
      
        coef = coefficients(hist_mat, histogram_);
        if (min_coef > coef) {
          min_coef = coef;
        }
        if (max_coef < coef) {
          max_coef = coef;
        }
      }
      std_msgs::ColorRGBA coef_color = jsk_topic_tools::heatColor(coef);
      for (size_t j = 0; j < coefficients_heat_image.rows; j++) {
        for (size_t i = 0; i < coefficients_heat_image.cols; i++) {
          if (label_mask.at<uchar>(j, i) == 255) {
            coefficients_heat_image.at<cv::Vec3b>(j, i)
              = cv::Vec3b(int(coef_color.b * 255),
                          int(coef_color.g * 255),
                          int(coef_color.r * 255));
            coefficient_image.at<float>(j, i) = coef;
          }
        }
      }
    }
    NODELET_INFO("coef: %f - %f", min_coef, max_coef);
    pub_debug_.publish(
      cv_bridge::CvImage(image_msg->header,
                         sensor_msgs::image_encodings::BGR8,
                         coefficients_heat_image).toImageMsg());
    pub_coefficient_image_.publish(
      cv_bridge::CvImage(image_msg->header,
                         sensor_msgs::image_encodings::TYPE_32FC1,
                         coefficient_image).toImageMsg());
    // apply threshold operation
    cv::Mat threshold_image = cv::Mat::zeros(
      coefficient_image.rows, coefficient_image.cols, CV_32FC1);
    if (threshold_method_ == 0) { // smaller than
      cv::threshold(coefficient_image, threshold_image, coef_threshold_, 1,
                   cv::THRESH_BINARY_INV);
    }
    else if (threshold_method_ == 1) { // greater than
      cv::threshold(coefficient_image, threshold_image, coef_threshold_, 1,
                    cv::THRESH_BINARY);
    }
    else if (threshold_method_ == 2 || threshold_method_ == 3) {
      // convert image into 8UC to apply otsu' method
      cv::Mat otsu_image = cv::Mat::zeros(
        coefficient_image.rows, coefficient_image.cols, CV_8UC1);
      cv::Mat otsu_result_image = cv::Mat::zeros(
        coefficient_image.rows, coefficient_image.cols, CV_8UC1);
      coefficient_image.convertTo(otsu_image, 8, 255.0);
      cv::threshold(otsu_image, otsu_result_image, coef_threshold_, 255,
                    cv::THRESH_OTSU);
      // convert it into float image again
      if (threshold_method_ == 2) {
        otsu_result_image.convertTo(threshold_image, 32, 1 / 255.0);
      }
      else if (threshold_method_ == 3) {
        otsu_result_image.convertTo(threshold_image, 32, - 1 / 255.0, 1.0);
      }
    }
    cv::Mat threshold_uchar_image = cv::Mat(threshold_image.rows,
                                            threshold_image.cols,
                                            CV_8UC1);
    threshold_image.convertTo(threshold_uchar_image, 8, 255.0);
    // convert image from float to uchar
    pub_result_.publish(
      cv_bridge::CvImage(image_msg->header,
                         sensor_msgs::image_encodings::MONO8,
                         threshold_uchar_image).toImageMsg());
  }

  double ColorHistogramLabelMatch::coefficients(
    const cv::Mat& ref_hist,
    const cv::Mat& target_hist)
  {
    if (coefficient_method_ == 0) {
      return (1.0 + cv::compareHist(ref_hist, target_hist, CV_COMP_CORREL)) / 2.0;
    }
    else if (coefficient_method_ == 1) {
      double x = cv::compareHist(ref_hist, target_hist, CV_COMP_CHISQR);
      return 1/ (x * x + 1);
    }
    else if (coefficient_method_ == 2) {
      return cv::compareHist(ref_hist, target_hist, CV_COMP_INTERSECT);
    }
    else if (coefficient_method_ == 3) {
      return 1.0 - cv::compareHist(ref_hist, target_hist, CV_COMP_BHATTACHARYYA);
    }
    else if (coefficient_method_ == 4 || coefficient_method_ == 5) {
      cv::Mat ref_sig = cv::Mat::zeros(ref_hist.cols, 2, CV_32FC1);
      cv::Mat target_sig = cv::Mat::zeros(ref_hist.cols, 2, CV_32FC1);
      //NODELET_INFO("ref_hist.cols = %d", ref_hist.cols);
      for (size_t i = 0; i < ref_hist.cols; i++) {
        ref_sig.at<float>(i, 0) = ref_hist.at<float>(0, i);
        target_sig.at<float>(i, 0) = target_hist.at<float>(0, i);
        ref_sig.at<float>(i, 1) = i;
        target_sig.at<float>(i, 1) = i;
      }
      if (coefficient_method_ == 4) {
        double x = cv::EMD(ref_sig, target_sig, CV_DIST_L1);
        return 1.0  / (1.0 + x * x);
      }
      else {
        double x = cv::EMD(ref_sig, target_sig, CV_DIST_L2);
        return 1.0  / (1.0 + x * x);
      }
    }
    else {
      NODELET_ERROR("unknown coefficiet method: %d", coefficient_method_);
      return 0;
    }
  }

  void ColorHistogramLabelMatch::histogramCallback(
    const jsk_recognition_msgs::ColorHistogram::ConstPtr& histogram_msg)
  {
    boost::mutex::scoped_lock lock(mutex_);
    //histogram_ = histogram_msg->histogram;
    histogram_ = cv::Mat(1, histogram_msg->histogram.size(), CV_32FC1);
    for (size_t i = 0; i < histogram_msg->histogram.size(); i++) {
      histogram_.at<float>(0, i) = histogram_msg->histogram[i];
    }
    cv::normalize(histogram_, histogram_, 1, histogram_.rows, cv::NORM_L2,
                  -1, cv::Mat());
  }

  void ColorHistogramLabelMatch::configCallback(
    Config &config, uint32_t level)
  {
    boost::mutex::scoped_lock lock(mutex_);
    coefficient_method_ = config.coefficient_method;
    max_value_ = config.max_value;
    min_value_ = config.min_value;
    masked_coefficient_ = config.masked_coefficient;
    coef_threshold_ = config.coef_threshold;
    threshold_method_ = config.threshold_method;
  }
  
}

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