// -*- mode: c++ -*-
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 *
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#include "jsk_perception/lab_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 LabDecomposer::onInit()
  {
    DiagnosticNodelet::onInit();
    pub_l_ = advertise<sensor_msgs::Image>(*pnh_, "output/l", 1);
    pub_a_ = advertise<sensor_msgs::Image>(*pnh_, "output/a", 1);
    pub_b_ = advertise<sensor_msgs::Image>(*pnh_, "output/b", 1);
    onInitPostProcess();
  }

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

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

  void LabDecomposer::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 lab_image;
    std::vector<cv::Mat> lab_planes;
    if (image_msg->encoding == sensor_msgs::image_encodings::BGR8) {
      cv::cvtColor(image, lab_image, CV_BGR2Lab);
    }
    else if (image_msg->encoding == sensor_msgs::image_encodings::RGB8) {
      cv::cvtColor(image, lab_image, CV_RGB2Lab);
    }
    else {
      NODELET_ERROR("unsupported format to Lab: %s", image_msg->encoding.c_str());
      return;
    }
    cv::split(lab_image, lab_planes);
    cv::Mat l = lab_planes[0];
    cv::Mat a = lab_planes[1];
    cv::Mat b = lab_planes[2];
    pub_l_.publish(cv_bridge::CvImage(
                     image_msg->header,
                     sensor_msgs::image_encodings::MONO8,
                     l).toImageMsg());
    pub_a_.publish(cv_bridge::CvImage(
                     image_msg->header,
                     sensor_msgs::image_encodings::MONO8,
                     a).toImageMsg());
    pub_b_.publish(cv_bridge::CvImage(
                     image_msg->header,
                     sensor_msgs::image_encodings::MONO8,
                     b).toImageMsg());
  }
}

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