// -*- mode: c++ -*-
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 *
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#include "jsk_perception/rect_array_to_density_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>

namespace jsk_perception
{
  void RectArrayToDensityImage::onInit()
  {
    DiagnosticNodelet::onInit();
    pnh_->param("approximate_sync", approximate_sync_, false);
    pnh_->param("queue_size", queue_size_, 100);
    pub_ = advertise<sensor_msgs::Image>(*pnh_, "output", 1);
    onInitPostProcess();
  }

  RectArrayToDensityImage::~RectArrayToDensityImage() {
    // 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 RectArrayToDensityImage::subscribe()
  {
    sub_image_.subscribe(*pnh_, "input/image", 1);
    sub_rects_.subscribe(*pnh_, "input/rect_array", 1);
    if (approximate_sync_) {
      async_ = boost::make_shared<message_filters::Synchronizer<ApproximateSyncPolicy> >(queue_size_);
      async_->connectInput(sub_image_, sub_rects_);
      async_->registerCallback(boost::bind(&RectArrayToDensityImage::convert, this, _1, _2));
    }
    else {
      sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(queue_size_);
      sync_->connectInput(sub_image_, sub_rects_);
      sync_->registerCallback(boost::bind(&RectArrayToDensityImage::convert, this, _1, _2));
    }
    ros::V_string names = boost::assign::list_of("~input/image")("~input/rect_array");
    jsk_topic_tools::warnNoRemap(names);
  }

  void RectArrayToDensityImage::unsubscribe()
  {
    sub_image_.unsubscribe();
    sub_rects_.unsubscribe();
  }

  void RectArrayToDensityImage::convert(
    const sensor_msgs::Image::ConstPtr& image_msg,
    const jsk_recognition_msgs::RectArray::ConstPtr& rects_msg)
  {
    vital_checker_->poke();
    cv::Mat density_image = cv::Mat::zeros(image_msg->height, image_msg->width, CV_32FC1);

    // Compute density
    for (size_t k=0; k<rects_msg->rects.size(); k++) {
      jsk_recognition_msgs::Rect rect = rects_msg->rects[k];
      for (int j=rect.y; j<(rect.y + rect.height); j++) {
        for (int i=rect.x; i<(rect.x + rect.width); i++) {
          density_image.at<float>(j, i)++;
        }
      }
    }

    // Scale the density image value to [0, 1]
    double min_image_value;
    double max_image_value;
    cv::minMaxLoc(density_image, &min_image_value, &max_image_value);
    cv::Mat(density_image - min_image_value).convertTo(
        density_image, CV_32FC1, 1. / (max_image_value - min_image_value));

    pub_.publish(cv_bridge::CvImage(
                    image_msg->header,
                    "32FC1",
                    density_image).toImageMsg());
  }
}

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