// -*- mode: c++ -*-
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2014, JSK Lab
 *  All rights reserved.
 *
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 *     disclaimer in the documentation and/o2r other materials provided
 *     with the distribution.
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 *     from this software without specific prior written permission.
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#define BOOST_PARAMETER_MAX_ARITY 7
#include "jsk_pcl_ros/point_indices_to_mask_image.h"
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>

namespace jsk_pcl_ros
{
  void PointIndicesToMaskImage::onInit()
  {
    DiagnosticNodelet::onInit();
    pnh_->param("approximate_sync", approximate_sync_, false);
    pub_ = advertise<sensor_msgs::Image>(*pnh_, "output", 1);
  }

  void PointIndicesToMaskImage::subscribe()
  {
    sub_input_.subscribe(*pnh_, "input", 1);
    sub_image_.subscribe(*pnh_, "input/image", 1);
    if (approximate_sync_) {
      async_ = boost::make_shared<message_filters::Synchronizer<ApproximateSyncPolicy> >(100);
      async_->connectInput(sub_input_, sub_image_);
      async_->registerCallback(boost::bind(&PointIndicesToMaskImage::mask, this, _1, _2));
    }
    else {
      sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
      sync_->connectInput(sub_input_, sub_image_);
      sync_->registerCallback(boost::bind(&PointIndicesToMaskImage::mask,
					  this, _1, _2));
    }
  }
  
  void PointIndicesToMaskImage::unsubscribe()
  {
    sub_input_.unsubscribe();
    sub_image_.unsubscribe();
  }

  void PointIndicesToMaskImage::mask(
    const PCLIndicesMsg::ConstPtr& indices_msg,
    const sensor_msgs::Image::ConstPtr& image_msg)
  {
    vital_checker_->poke();
    int width = image_msg->width;
    int height = image_msg->height;
    cv::Mat mask_image = cv::Mat::zeros(height, width, CV_8UC1);
    for (size_t i = 0; i < indices_msg->indices.size(); i++) {
      int index = indices_msg->indices[i];
      int width_index = index % width;
      int height_index = index / width;
      ROS_INFO("w, h = %d, %d", width_index, height_index);
      mask_image.at<uchar>(height_index, width_index) = 255;
    }
    cv_bridge::CvImage mask_bridge(indices_msg->header,
                                   sensor_msgs::image_encodings::MONO8,
                                   mask_image);
    pub_.publish(mask_bridge.toImageMsg());
  }
  
  void PointIndicesToMaskImage::updateDiagnostic(
    diagnostic_updater::DiagnosticStatusWrapper &stat)
  {
    if (vital_checker_->isAlive()) {
      stat.summary(diagnostic_msgs::DiagnosticStatus::OK,
                   "PointIndicesToMaskImage running");
    }
    else {
      jsk_topic_tools::addDiagnosticErrorSummary(
        "PointIndicesToMaskImage", vital_checker_, stat);
    }
  }
}

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