// -*- mode: c++ -*-
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2015, JSK Lab
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the JSK Lab nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

#include "jsk_perception/mask_image_to_rect.h"
#include <boost/assign.hpp>
#include <jsk_topic_tools/log_utils.h>
#include <opencv2/opencv.hpp>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>
#include "jsk_recognition_utils/cv_utils.h"

namespace jsk_perception
{
  void MaskImageToRect::onInit()
  {
    DiagnosticNodelet::onInit();
    srv_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
    typename dynamic_reconfigure::Server<Config>::CallbackType f =
      boost::bind(&MaskImageToRect::configCallback, this, _1, _2);
    srv_->setCallback(f);

    pub_ = advertise<jsk_recognition_msgs::RectArray>(*pnh_, "output", 1);
    onInitPostProcess();
  }

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

  void MaskImageToRect::unsubscribe()
  {
    sub_mask_.shutdown();
  }

  void MaskImageToRect::configCallback(Config& config, uint32_t level)
  {
    rect_type_ = config.rect_type;
  }

  void MaskImageToRect::convert(
    const sensor_msgs::Image::ConstPtr& mask_msg)
  {
    vital_checker_->poke();
    std::vector<cv::Point> indices;
    cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(
      mask_msg, sensor_msgs::image_encodings::MONO8);
    cv::Mat mask = cv_ptr->image;
    jsk_recognition_msgs::RectArray rects;
    rects.header = mask_msg->header;

    switch (rect_type_) {
      case jsk_perception::MaskImageToRect_Whole: {
        for (size_t j = 0; j < mask.rows; j++) {
          for (size_t i = 0; i < mask.cols; i++) {
            if (mask.at<uchar>(j, i) == 255) {
              indices.push_back(cv::Point(i, j));
            }
          }
        }

        if (indices.size() > 0){
          cv::Rect mask_rect = cv::boundingRect(indices);
          jsk_recognition_msgs::Rect rect;
          rect.x = mask_rect.x;
          rect.y = mask_rect.y;
          rect.width = mask_rect.width;
          rect.height = mask_rect.height;
          rects.rects.push_back(rect);
        }
        break;
      }
      case jsk_perception::MaskImageToRect_External: {
        std::vector< std::vector<cv::Point> > contours;
        std::vector<cv::Vec4i> hierarchy;
        cv::findContours(mask, contours, hierarchy,
                         CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);
        for (size_t i = 0; i < contours.size(); ++i) {
          cv::Rect cv_rect = jsk_recognition_utils::boundingRectFromContours(contours.at(i));
          jsk_recognition_msgs::Rect rect;
          rect.x = cv_rect.x;
          rect.y = cv_rect.y;
          rect.width = cv_rect.width;
          rect.height = cv_rect.height;
          rects.rects.push_back(rect);
        }
        break;
      }
    }
    pub_.publish(rects);
  }
}

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