// -*- mode: c++ -*-
/*********************************************************************
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 *
 *  Copyright (c) 2015, JSK Lab
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#include "jsk_perception/unapply_mask_image.h"
#include <boost/assign.hpp>
#include <jsk_topic_tools/log_utils.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/opencv.hpp>
#include <cv_bridge/cv_bridge.h>
#include <jsk_recognition_utils/cv_utils.h>

namespace jsk_perception
{
  void UnapplyMaskImage::onInit()
  {
    DiagnosticNodelet::onInit();
    pnh_->param("approximate_sync", approximate_sync_, false);
    pub_image_ = advertise<sensor_msgs::Image>(
      *pnh_, "output", 1);
    onInitPostProcess();
  }

  UnapplyMaskImage::~UnapplyMaskImage() {
    // message_filters::Synchronizer needs to be called reset
    // before message_filters::Subscriber is freed.
    // Calling reset fixes the following error on shutdown of the nodelet:
    // terminate called after throwing an instance of
    // 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
    //     what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
    // Also see https://github.com/ros/ros_comm/issues/720 .
    sync_.reset();
    async_.reset();
  }

  void UnapplyMaskImage::subscribe()
  {
    sub_image_.subscribe(*pnh_, "input", 1);
    sub_mask_.subscribe(*pnh_, "input/mask", 1);
    if (approximate_sync_) {
      async_ = boost::make_shared<message_filters::Synchronizer<ApproximateSyncPolicy> >(100);
      async_->connectInput(sub_image_, sub_mask_);
      async_->registerCallback(boost::bind(&UnapplyMaskImage::apply, this, _1, _2));
    }
    else {
      sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
      sync_->connectInput(sub_image_, sub_mask_);
      sync_->registerCallback(boost::bind(&UnapplyMaskImage::apply, this, _1, _2));
    }
    ros::V_string names = boost::assign::list_of("~input")("~input/mask");
    jsk_topic_tools::warnNoRemap(names);
  }

  void UnapplyMaskImage::unsubscribe()
  {
    sub_image_.unsubscribe();
    sub_mask_.unsubscribe();
  }

  void UnapplyMaskImage::apply(
    const sensor_msgs::Image::ConstPtr& image_msg,
    const sensor_msgs::Image::ConstPtr& mask_msg)
  {
    vital_checker_->poke();
    cv::Mat image = cv_bridge::toCvShare(image_msg,
                                         image_msg->encoding)->image;
    cv::Mat mask = cv_bridge::toCvShare(mask_msg,
                                        mask_msg->encoding)->image;
    cv::Mat output;
    bool single_channel = false;
    if (image_msg->encoding == sensor_msgs::image_encodings::BGR8 ||
        image_msg->encoding == sensor_msgs::image_encodings::RGB8) {
      single_channel = false;
    }
    else {
      single_channel = true;
    }
    if (single_channel) {
      output = cv::Mat::zeros(mask.rows, mask.cols, CV_8UC1);
    }
    else {
      output = cv::Mat::zeros(mask.rows, mask.cols, CV_8UC3);
    }
    
    cv::Rect region = jsk_recognition_utils::boundingRectOfMaskImage(mask);
    for (int j = 0; j < image.rows; j++) {
      for (int i = 0; i < image.cols; i++) {
        if (single_channel) {
          output.at<uchar>(j + region.y, i + region.x)
            = image.at<uchar>(j, i);
        }
        else {
          output.at<cv::Vec3b>(j + region.y, i + region.x)
            = image.at<cv::Vec3b>(j, i);
        }
      }
    }
    pub_image_.publish(cv_bridge::CvImage(
                         image_msg->header,
                         image_msg->encoding,
                         output).toImageMsg());
  }
}

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