// -*- mode: c++ -*-
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 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2015, JSK Lab
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 *
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#include "jsk_perception/hsv_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 HSVDecomposer::onInit()
  {
    DiagnosticNodelet::onInit();
    pub_h_ = advertise<sensor_msgs::Image>(*pnh_, "output/hue", 1);
    pub_s_ = advertise<sensor_msgs::Image>(*pnh_, "output/saturation", 1);
    pub_v_ = advertise<sensor_msgs::Image>(*pnh_, "output/value", 1);
    onInitPostProcess();
  }

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

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

  void HSVDecomposer::decompose(
    const sensor_msgs::Image::ConstPtr& image_msg)
  {
    cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(
      image_msg, image_msg->encoding);
    cv::Mat image = cv_ptr->image;
    cv::Mat hsv_image;
    std::vector<cv::Mat> hsv_planes;
    if (image_msg->encoding == sensor_msgs::image_encodings::BGR8) {
      cv::cvtColor(image, hsv_image, CV_BGR2HSV);
    }
    else if (image_msg->encoding == sensor_msgs::image_encodings::RGB8) {
      cv::cvtColor(image, hsv_image, CV_RGB2HSV);
    }
    else if (image_msg->encoding == sensor_msgs::image_encodings::BGRA8 ||
             image_msg->encoding == sensor_msgs::image_encodings::BGRA16) {
      cv::Mat tmp_image;
      cv::cvtColor(image, tmp_image, CV_BGRA2BGR);
      cv::cvtColor(tmp_image, hsv_image, CV_BGR2HSV);
    }
    else if (image_msg->encoding == sensor_msgs::image_encodings::RGBA8 ||
             image_msg->encoding == sensor_msgs::image_encodings::RGBA16) {
      cv::Mat tmp_image;
      cv::cvtColor(image, tmp_image, CV_RGBA2BGR);
      cv::cvtColor(tmp_image, hsv_image, CV_BGR2HSV);
    }
    else {
      NODELET_ERROR("unsupported format to HSV: %s", image_msg->encoding.c_str());
      return;
    }
    cv::split(hsv_image, hsv_planes);
    cv::Mat hue = hsv_planes[0];
    cv::Mat saturation = hsv_planes[1];
    cv::Mat value = hsv_planes[2];
    pub_h_.publish(cv_bridge::CvImage(
                     image_msg->header,
                     sensor_msgs::image_encodings::MONO8,
                     hue).toImageMsg());
    pub_s_.publish(cv_bridge::CvImage(
                     image_msg->header,
                     sensor_msgs::image_encodings::MONO8,
                     saturation).toImageMsg());
    pub_v_.publish(cv_bridge::CvImage(
                     image_msg->header,
                     sensor_msgs::image_encodings::MONO8,
                     value).toImageMsg());
  }
}

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