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

namespace jsk_perception
{

  void LabelArrayToMaskImage::onInit()
  {
    DiagnosticNodelet::onInit();
    pub_ = advertise<sensor_msgs::Image>(*pnh_, "output", 1);
    pnh_->param("label_values", label_array_value_, std::vector<int>{});
    onInitPostProcess();
  }

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

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

  void LabelArrayToMaskImage::convert(
    const sensor_msgs::Image::ConstPtr& label_msg)
  {
    cv_bridge::CvImagePtr label_img_ptr = cv_bridge::toCvCopy(
      label_msg, sensor_msgs::image_encodings::TYPE_32SC1);

    cv::Mat mask_image = cv::Mat::zeros(label_msg->height,
                                        label_msg->width,
                                        CV_8UC1);
    for (size_t j = 0; j < label_img_ptr->image.rows; j++)
    {
      for (size_t i = 0; i < label_img_ptr->image.cols; i++)
      {
        int label = label_img_ptr->image.at<int>(j, i);
        std::vector<int>::iterator it = std::find(
           label_array_value_.begin(), label_array_value_.end(), label);
        if (it != label_array_value_.end()) {
          mask_image.at<uchar>(j, i) = 255;
        }
      }
    }
    pub_.publish(cv_bridge::CvImage(
          label_msg->header,
          sensor_msgs::image_encodings::MONO8,
          mask_image).toImageMsg());
  }

}  // namespace jsk_perception

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