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// https://github.com/opencv/opencv/blob/2.4/samples/cpp/tutorial_code/ImgProc/Threshold.cpp
/**
 * This is a demo of threshold image processing,
 */

#include <image_transport/image_transport.h>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>

#include <opencv2/highgui/highgui.hpp>
#include "opencv2/imgproc/imgproc.hpp"

#include "opencv_apps/nodelet.h"
#include "opencv_apps/ThresholdConfig.h"

#include <dynamic_reconfigure/server.h>

namespace threshold {
  class ThresholdNodelet : public opencv_apps::Nodelet {
    ////////////////////////////////////////////////////////
    // Dynamic Reconfigure
    ////////////////////////////////////////////////////////
    typedef threshold::ThresholdConfig Config;
    typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
    Config config_;
    boost::shared_ptr<ReconfigureServer> reconfigure_server_;

    bool debug_view_;

    std::string window_name_;

    image_transport::Publisher img_pub_;
    image_transport::Subscriber img_sub_;
    image_transport::CameraSubscriber cam_sub_;

    boost::shared_ptr<image_transport::ImageTransport> it_;

    boost::mutex mutex_;
    int threshold_type_;
    int max_binary_value_;
    int threshold_value_;
    bool apply_otsu_;

    void imageCallbackWithInfo(
      const sensor_msgs::ImageConstPtr& msg,
      const sensor_msgs::CameraInfoConstPtr& cam_info) {
      do_work(msg, cam_info->header.frame_id);
    }

    void imageCallback(const sensor_msgs::ImageConstPtr& msg) {
      do_work(msg, msg->header.frame_id);
    }

    void subscribe() {
      NODELET_DEBUG("Subscribing to image topic.");
      if (config_.use_camera_info)
        cam_sub_ = it_->subscribeCamera(
          "image", 1, &ThresholdNodelet::imageCallbackWithInfo, this);
      else
        img_sub_ =
          it_->subscribe("image", 1, &ThresholdNodelet::imageCallback, this);
    }

    void unsubscribe() {
      NODELET_DEBUG("Unsubscribing from image topic.");
      img_sub_.shutdown();
      cam_sub_.shutdown();
    }

    void reconfigureCallback(Config& config, uint32_t level) {
      boost::mutex::scoped_lock lock(mutex_);
      config_ = config;
      threshold_value_ = config.threshold;
      threshold_type_ = config.threshold_type;
      max_binary_value_ = config.max_binary;
      apply_otsu_ = config.apply_otsu;
    }

    void do_work(const sensor_msgs::Image::ConstPtr& image_msg,
                  const std::string input_frame_from_msg) {
      try {
        cv::Mat src_image =
          cv_bridge::toCvShare(image_msg, sensor_msgs::image_encodings::BGR8)->image;
        cv::Mat gray_image;
        cv::cvtColor(src_image, gray_image, cv::COLOR_BGR2GRAY);
        cv::Mat result_image;

        if (apply_otsu_) {
          threshold_type_ |= CV_THRESH_OTSU;
        }
        cv::threshold(gray_image, result_image, threshold_value_,
                     max_binary_value_, threshold_type_);
        //-- Show what you got
        if (debug_view_) {
          cv::namedWindow(window_name_, cv::WINDOW_AUTOSIZE);
          cv::imshow(window_name_, result_image);
          int c = cv::waitKey(1);
        }
        img_pub_.publish(cv_bridge::CvImage(image_msg->header,
                                            sensor_msgs::image_encodings::MONO8,
                                            result_image).toImageMsg());
      }
      catch (cv::Exception& e) {
        NODELET_ERROR("Image processing error: %s %s %s %i", e.err.c_str(),
                      e.func.c_str(), e.file.c_str(), e.line);
      }
    }

  public:
    virtual void onInit() {
      Nodelet::onInit();
      it_ = boost::shared_ptr<image_transport::ImageTransport>(
        new image_transport::ImageTransport(*nh_));

      pnh_->param("debug_view", debug_view_, false);
      if (debug_view_) {
        always_subscribe_ = true;
      }
      ////////////////////////////////////////////////////////
      // Dynamic Reconfigure
      ////////////////////////////////////////////////////////
      reconfigure_server_ =
        boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
      dynamic_reconfigure::Server<Config>::CallbackType f =
        boost::bind(&ThresholdNodelet::reconfigureCallback, this, _1, _2);
      reconfigure_server_->setCallback(f);

      img_pub_ = advertiseImage(*pnh_, "image", 1);
      onInitPostProcess();
    }
  };
}

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