// -*- mode: c++ -*-
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#include "jsk_perception/background_substraction.h"

namespace jsk_perception
{
  void BackgroundSubstraction::onInit()
  {
    DiagnosticNodelet::onInit();

    srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
    dynamic_reconfigure::Server<Config>::CallbackType f =
      boost::bind (
        &BackgroundSubstraction::configCallback, this, _1, _2);
    srv_->setCallback (f);
    
    image_pub_ = advertise<sensor_msgs::Image>(*pnh_, "output", 1);
    
  }

  void BackgroundSubstraction::configCallback(Config& config, uint32_t level)
  {
    boost::mutex::scoped_lock lock(mutex_);
    bg_ = cv::BackgroundSubtractorMOG2();
    nmixtures_ = config.nmixtures;
    detect_shadows_ = config.detect_shadows;
    bg_.set("nmixtures", nmixtures_);
    if (detect_shadows_) {
      bg_.set("detectShadows", 1);
    }
    else {
      bg_.set("detectShadows", 0);
    }
  }
  
  void BackgroundSubstraction::subscribe()
  {
    it_.reset(new image_transport::ImageTransport(*pnh_));
    sub_ = it_->subscribe("image", 1, &BackgroundSubstraction::substract, this);
  }

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

  void BackgroundSubstraction::updateDiagnostic(
    diagnostic_updater::DiagnosticStatusWrapper &stat)
  {
    if (vital_checker_->isAlive()) {
      stat.summary(diagnostic_msgs::DiagnosticStatus::OK,
                   "BackgroundSubstraction running");
    }
    else {
      jsk_topic_tools::addDiagnosticErrorSummary(
        "BackgroundSubstraction", vital_checker_, stat);
    }

  }
  
  void BackgroundSubstraction::substract(
    const sensor_msgs::Image::ConstPtr& image_msg)
  {
    vital_checker_->poke();
    boost::mutex::scoped_lock lock(mutex_);
    cv_bridge::CvImagePtr cv_ptr
      = cv_bridge::toCvCopy(image_msg, sensor_msgs::image_encodings::BGR8);
    cv::Mat image = cv_ptr->image;
    cv::Mat fg;
    std::vector <std::vector<cv::Point > > contours;
    bg_(image, fg);
    sensor_msgs::Image::Ptr diff_image
      = cv_bridge::CvImage(image_msg->header,
                           sensor_msgs::image_encodings::MONO8,
                           fg).toImageMsg();
    image_pub_.publish(diff_image);
  }
}

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