// -*- mode: c++ -*-
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#ifndef JSK_PERCEPTION_BACKGROUND_SUBSTRACTION_H_
#define JSK_PERCEPTION_BACKGROUND_SUBSTRACTION_H_

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <opencv2/opencv.hpp>
#if ( CV_MAJOR_VERSION >= 4)
#else
#include <opencv/cv.hpp>
#endif
#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/Image.h>

#include <dynamic_reconfigure/server.h>
#include <jsk_perception/BackgroundSubstractionConfig.h>

namespace jsk_perception
{
  class BackgroundSubstraction: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    BackgroundSubstraction(): DiagnosticNodelet("BackgroundSubstraction") {}
    typedef jsk_perception::BackgroundSubstractionConfig Config;
  protected:
    ////////////////////////////////////////////////////////
    // methods
    ////////////////////////////////////////////////////////
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void substract(
      const sensor_msgs::Image::ConstPtr& image_msg);
    virtual void configCallback (Config &config, uint32_t level);
    ////////////////////////////////////////////////////////
    // ROS variables
    ////////////////////////////////////////////////////////
    ros::Publisher image_pub_;
    image_transport::Subscriber sub_;
    boost::shared_ptr<image_transport::ImageTransport> it_;
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
    boost::mutex mutex_;

    ////////////////////////////////////////////////////////
    // Parameters
    ////////////////////////////////////////////////////////
    // http://stackoverflow.com/questions/28847289/error-cannot-declare-variable-bg-to-be-of-abstract-type-cvbackgroundsubtra
#if CV_MAJOR_VERSION >= 3
    cv::Ptr<cv::BackgroundSubtractorMOG2> bg_;
#else
    cv::BackgroundSubtractorMOG2 bg_;
#endif
    bool detect_shadows_;
    int nmixtures_;
    double background_ratio_;
    
  private:
    
  };
}

#endif
