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

namespace jsk_perception
{
  void RectToMaskImage::onInit()
  {
    DiagnosticNodelet::onInit();
    pub_ = advertise<sensor_msgs::Image>(*pnh_, "output", 1);
  }

  void RectToMaskImage::subscribe()
  {
    sub_ = pnh_->subscribe("input", 1, &RectToMaskImage::convert, this);
    sub_info_ = pnh_->subscribe("input/camera_info", 1,
                                &RectToMaskImage::infoCallback, this);
  }

  void RectToMaskImage::unsubscribe()
  {
    sub_.shutdown();
    sub_info_.shutdown();
  }

  void RectToMaskImage::convert(
    const geometry_msgs::PolygonStamped::ConstPtr& rect_msg)
  {
    boost::mutex::scoped_lock lock(mutex_);
    if (camera_info_) {
      cv::Mat mask_image = cv::Mat::zeros(camera_info_->height,
                                          camera_info_->width,
                                          CV_8UC1);
      geometry_msgs::Point32 P0 = rect_msg->polygon.points[0];
      geometry_msgs::Point32 P1 = rect_msg->polygon.points[1];
      double min_x = std::max(std::min(P0.x, P1.x), 0.0f);
      double max_x = std::max(P0.x, P1.x);
      double min_y = std::max(std::min(P0.y, P1.y), 0.0f);
      double max_y = std::max(P0.y, P1.y);
      double width = std::min(max_x - min_x, camera_info_->width - min_x);
      double height = std::min(max_y - min_y, camera_info_->height - min_y);
      cv::Rect region(min_x, min_y, width, height);
      cv::rectangle(mask_image, region, cv::Scalar(255), CV_FILLED);
      pub_.publish(cv_bridge::CvImage(
                     rect_msg->header,
                     sensor_msgs::image_encodings::MONO8,
                     mask_image).toImageMsg());
    }
  }

  
  void RectToMaskImage::infoCallback(
    const sensor_msgs::CameraInfo::ConstPtr& info_msg)
  {
    boost::mutex::scoped_lock lock(mutex_);
    camera_info_ = info_msg;
  }
}

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