// -*- mode: c++ -*-
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#include "jsk_perception/polygon_to_mask_image.h"
#include <boost/assign.hpp>
#include <jsk_topic_tools/log_utils.h>
#include <opencv2/opencv.hpp>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>

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

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

  void PolygonToMaskImage::unsubscribe()
  {
    sub_info_.shutdown();
    sub_.shutdown();
  }

  void PolygonToMaskImage::infoCallback(
    const sensor_msgs::CameraInfo::ConstPtr& info_msg)
  {
    boost::mutex::scoped_lock lock(mutex_);
    camera_info_ = info_msg;
  }

  void PolygonToMaskImage::convert(
    const geometry_msgs::PolygonStamped::ConstPtr& polygon_msg)
  {
    boost::mutex::scoped_lock lock(mutex_);
    vital_checker_->poke();
    if (camera_info_) {
      if (polygon_msg->header.frame_id != camera_info_->header.frame_id) {
        NODELET_ERROR("frame_id of polygon (%s) and camera (%s) are not same.",
                      polygon_msg->header.frame_id.c_str(), camera_info_->header.frame_id.c_str());
      }

      image_geometry::PinholeCameraModel model;
      model.fromCameraInfo(camera_info_);
      cv::Mat mask_image = cv::Mat::zeros(camera_info_->height,
                                          camera_info_->width,
                                          CV_8UC1);
      std::vector<cv::Point> points;
      // we expect same tf frame
      if (polygon_msg->polygon.points.size() >= 3) {
        for (size_t i = 0; i < polygon_msg->polygon.points.size(); i++) {
          geometry_msgs::Point32 p = polygon_msg->polygon.points[i];
          cv::Point uv = model.project3dToPixel(cv::Point3d(p.x, p.y, p.z));
          points.push_back(uv);
        }
        cv::fillConvexPoly(mask_image, &(points[0]), points.size(), cv::Scalar(255));
      }
      pub_.publish(cv_bridge::CvImage(polygon_msg->header,
                                      sensor_msgs::image_encodings::MONO8,
                                      mask_image).toImageMsg());
    }
    else {
      NODELET_WARN("no camera info is available");
    }
  }

}

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