// -*- mode: c++ -*-
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#define BOOST_PARAMETER_MAX_ARITY 7
#include "jsk_pcl_ros/mask_image_to_point_indices.h"
#include "jsk_pcl_ros/pcl_conversion_util.h"
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>

namespace jsk_pcl_ros
{
  void MaskImageToPointIndices::onInit()
  {
    DiagnosticNodelet::onInit();
    pub_ = advertise<PCLIndicesMsg>(*pnh_, "output", 1);
  }

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

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

  void MaskImageToPointIndices::updateDiagnostic(
    diagnostic_updater::DiagnosticStatusWrapper &stat)
  {
    if (vital_checker_->isAlive()) {
      stat.summary(diagnostic_msgs::DiagnosticStatus::OK,
                   "MaskImageToPointIndices running");
    }
    else {
      jsk_topic_tools::addDiagnosticErrorSummary(
        "MaskImageToPointIndices", vital_checker_, stat);
    }
  }
  
  void MaskImageToPointIndices::indices(
    const sensor_msgs::Image::ConstPtr& image_msg)
  {
    cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(
      image_msg, sensor_msgs::image_encodings::MONO8);
    cv::Mat image = cv_ptr->image;
    PCLIndicesMsg indices_msg;
    indices_msg.header = image_msg->header;
    for (size_t j = 0; j < image.rows; j++) {
      for (size_t i = 0; i < image.cols; i++) {
        if (image.at<uchar>(j, i) == 255) {
          indices_msg.indices.push_back(j * image.cols + i);
        }
      }
    }
    pub_.publish(indices_msg);
  }
}

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