// -*- mode: c++ -*-
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2015, JSK Lab
 *  All rights reserved.
 *
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#include "jsk_perception/ycc_decomposer.h"
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/opencv.hpp>

namespace jsk_perception
{
  void YCCDecomposer::onInit()
  {
    DiagnosticNodelet::onInit();
    pub_y_ = advertise<sensor_msgs::Image>(*pnh_, "output/y", 1);
    pub_cr_ = advertise<sensor_msgs::Image>(*pnh_, "output/cr", 1);
    pub_cb_ = advertise<sensor_msgs::Image>(*pnh_, "output/cb", 1);
  }

  void YCCDecomposer::subscribe()
  {
    sub_ = pnh_->subscribe("input", 1, &YCCDecomposer::decompose, this);
  }

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

  void YCCDecomposer::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 ycc_image;
    std::vector<cv::Mat> ycc_planes;
    if (image_msg->encoding == sensor_msgs::image_encodings::BGR8) {
      cv::cvtColor(image, ycc_image, CV_BGR2YCrCb);
    }
    else if (image_msg->encoding == sensor_msgs::image_encodings::RGB8) {
      cv::cvtColor(image, ycc_image, CV_RGB2YCrCb);
    }
    else {
      NODELET_ERROR("unsupported format to YCC: %s", image_msg->encoding.c_str());
      return;
    }
    cv::split(ycc_image, ycc_planes);
    cv::Mat y = ycc_planes[0];
    cv::Mat cr = ycc_planes[1];
    cv::Mat cb = ycc_planes[2];
    pub_y_.publish(cv_bridge::CvImage(
                     image_msg->header,
                     sensor_msgs::image_encodings::MONO8,
                     y).toImageMsg());
    pub_cr_.publish(cv_bridge::CvImage(
                      image_msg->header,
                      sensor_msgs::image_encodings::MONO8,
                      cr).toImageMsg());
    pub_cb_.publish(cv_bridge::CvImage(
                      image_msg->header,
                      sensor_msgs::image_encodings::MONO8,
                      cb).toImageMsg());
  }
}

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