/**
Copyright 2017 Rafael Muñoz Salinas. All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are
permitted provided that the following conditions are met:

   1. Redistributions of source code must retain the above copyright notice, this list of
      conditions and the following disclaimer.

   2. Redistributions in binary form must reproduce the above copyright notice, this list
      of conditions and the following disclaimer in the documentation and/or other materials
      provided with the distribution.

THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED
WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

The views and conclusions contained in the software and documentation are those of the
authors and should not be interpreted as representing official policies, either expressed
or implied, of Rafael Muñoz Salinas.
*/

#include "markerdetector.h"
#include "cameraparameters.h"
#include "markerlabeler.h"
#include "timers.h"

#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <fstream>
#include <iostream>
#include <valarray>
#include <chrono>
#include <thread>
#include "debug.h"
#include "aruco_cvversioning.h"
#include "markerdetector_impl.h"

//#ifdef _DEBUG
//#include <opencv2/highgui/highgui.hpp>
//#endif
using namespace std;
using namespace cv;

namespace aruco
{
/************************************
     *
     *
     *
     *
     ************************************/
MarkerDetector::MarkerDetector()
{
    _impl=new MarkerDetector_Impl();
//    _iplm=std::unique_ptr<MarkerDetector_Impl>(new MarkerDetector_Impl());
}
/************************************
     *
     *
     *
     *
     ************************************/
MarkerDetector::MarkerDetector(int dict_type, float error_correction_rate ){
    _impl=new MarkerDetector_Impl();
    setDictionary(dict_type,error_correction_rate);
    setDetectionMode(DM_NORMAL);
}
/************************************
     *
     *
     *
     *
     ************************************/
MarkerDetector::MarkerDetector(std::string dict_type, float error_correction_rate ){
    _impl=new MarkerDetector_Impl();
    setDictionary(dict_type,error_correction_rate);
    setDetectionMode(DM_NORMAL);

}
/************************************
     *
     *
     *
     *
     ************************************/

MarkerDetector::~MarkerDetector()
{
    delete _impl;
}

void MarkerDetector::setParameters(const Params &params){
    _impl->setParameters(params);
}

/************************************
     *
     *
     *
     *
     ************************************/
void MarkerDetector::setDetectionMode( DetectionMode dm,float minMarkerSize){
    _impl->_18062104616271777338.setDetectionMode(dm,minMarkerSize);
}

DetectionMode MarkerDetector::getDetectionMode( ){
return  _impl->_18062104616271777338.detectMode;
}



std::vector<aruco::Marker> MarkerDetector::detect(const cv::Mat& input)
{
    return _impl->detect(input);
}

std::vector<aruco::Marker> MarkerDetector::detect(const cv::Mat& input, const CameraParameters& camParams,
                                                  float markerSizeMeters, bool setYPerperdicular ){
    return _impl->detect(input,camParams,markerSizeMeters,setYPerperdicular);
}



/**Returns operating params
 */
MarkerDetector::Params MarkerDetector::getParameters() const{return _impl->getParameters();}
/**Returns operating params
 */
MarkerDetector::Params & MarkerDetector::getParameters() {return _impl->getParameters();}



std::vector<MarkerCandidate>  MarkerDetector::getCandidates()const
{
   return  _impl->getCandidates();
}

std::vector<cv::Mat> MarkerDetector::getImagePyramid(){
    return _impl->getImagePyramid();
}
cv::Ptr<MarkerLabeler> MarkerDetector::getMarkerLabeler()
{
    return _impl->getMarkerLabeler();
}
void MarkerDetector::setMarkerLabeler(cv::Ptr<MarkerLabeler> detector)
{
 _impl->setMarkerLabeler(detector);
}

void MarkerDetector::setDictionary(int dict_type,
                                   float error_correction_rate)
{
    _impl->setDictionary(dict_type,error_correction_rate);
}


void MarkerDetector::setDictionary(string dict_type, float error_correction_rate)
{
    _impl->setDictionary(dict_type,error_correction_rate);

}
cv::Mat MarkerDetector::getThresholdedImage(uint32_t idx)
{
    return _impl->getThresholdedImage(idx);
}

void MarkerDetector::Params::save(cv::FileStorage &fs)const{
    fs<<"aruco-dictionary"<<dictionary;
    fs<<"aruco-detectMode"<<toString(detectMode);
    fs<<"aruco-cornerRefinementM"<<toString(cornerRefinementM);
    fs<<"aruco-thresMethod"<<toString(thresMethod);
    fs<<"aruco-maxThreads"<<maxThreads;
    fs<<"aruco-borderDistThres"<<borderDistThres;
    fs<<"aruco-lowResMarkerSize"<<lowResMarkerSize;
    fs<<"aruco-minSize"<<minSize;
    fs<<"aruco-minSize_pix"<<minSize_pix;
    fs<<"aruco-enclosedMarker"<<enclosedMarker;
    fs<<"aruco-NAttemptsAutoThresFix"<<NAttemptsAutoThresFix;
    fs<<"aruco-AdaptiveThresWindowSize"<<AdaptiveThresWindowSize;
    fs<<"aruco-ThresHold"<<ThresHold;
    fs<<"aruco-AdaptiveThresWindowSize_range"<<AdaptiveThresWindowSize_range;
    fs<<"aruco-markerWarpPixSize"<<markerWarpPixSize;
    fs<<"aruco-autoSize"<<autoSize;
    fs<<"aruco-ts"<<ts;
    fs<<"aruco-pyrfactor"<<pyrfactor;
    fs<<"aruco-error_correction_rate"<<error_correction_rate;
    fs<<"aruco-trackingMinDetections"<<trackingMinDetections;
}

void MarkerDetector::Params::load(cv::FileStorage &fs){
     attemtpRead("aruco-maxThreads",maxThreads,fs);
    attemtpRead("aruco-borderDistThres",borderDistThres,fs);
    attemtpRead("aruco-lowResMarkerSize",lowResMarkerSize,fs);
    attemtpRead("aruco-minSize",minSize,fs);
    attemtpRead("aruco-minSize_pix",minSize_pix,fs);
    attemtpRead("aruco-enclosedMarker",enclosedMarker,fs);
    attemtpRead("aruco-NAttemptsAutoThresFix",NAttemptsAutoThresFix,fs);
    attemtpRead("aruco-AdaptiveThresWindowSize",AdaptiveThresWindowSize,fs);
    attemtpRead("aruco-ThresHold",ThresHold,fs);
    attemtpRead("aruco-AdaptiveThresWindowSize_range",AdaptiveThresWindowSize_range,fs);
    attemtpRead("aruco-markerWarpPixSize",markerWarpPixSize,fs);
    attemtpRead("aruco-autoSize",autoSize,fs);
    attemtpRead("aruco-ts",ts,fs);
    attemtpRead("aruco-pyrfactor",pyrfactor,fs);
    attemtpRead("aruco-error_correction_rate",error_correction_rate,fs);
    attemtpRead("aruco-dictionary",dictionary,fs);
    attemtpRead("aruco-trackingMinDetections",trackingMinDetections,fs);

    if ( fs["aruco-detectMode"].type()!=cv::FileNode::NONE){
        string aux;
        fs["aruco-detectMode"]>>aux;
        detectMode=getDetectionModeFromString(aux);
    }
    if ( fs["aruco-thresMethod"].type()!=cv::FileNode::NONE){
        string aux;
        fs["aruco-thresMethod"]>>aux;
        thresMethod=getCornerThresMethodFromString(aux);
    }
    if ( fs["aruco-cornerRefinementM"].type()!=cv::FileNode::NONE){
        string aux;
        fs["aruco-cornerRefinementM"]>>aux;
        cornerRefinementM=getCornerRefinementMethodFromString(aux);
    }

  }


void MarkerDetector::Params::toStream(std::ostream &str)const{
    str.write((char*)&detectMode,sizeof(detectMode));
    str.write((char*)&maxThreads,sizeof(maxThreads));
    str.write((char*)&borderDistThres,sizeof(borderDistThres));
    str.write((char*)&lowResMarkerSize,sizeof(lowResMarkerSize));
    str.write((char*)&minSize,sizeof(minSize));
    str.write((char*)&minSize_pix,sizeof(minSize_pix));
    str.write((char*)&enclosedMarker,sizeof(enclosedMarker));
    str.write((char*)&thresMethod,sizeof(thresMethod));
    str.write((char*)&NAttemptsAutoThresFix,sizeof(NAttemptsAutoThresFix));
    str.write((char*)&AdaptiveThresWindowSize,sizeof(AdaptiveThresWindowSize));
    str.write((char*)&ThresHold,sizeof(ThresHold));
    str.write((char*)&AdaptiveThresWindowSize_range,sizeof(AdaptiveThresWindowSize_range));
    str.write((char*)&markerWarpPixSize,sizeof(markerWarpPixSize));
    str.write((char*)&cornerRefinementM,sizeof(cornerRefinementM));
    str.write((char*)&autoSize,sizeof(autoSize));
    str.write((char*)&ts,sizeof(pyrfactor));
    str.write((char*)&error_correction_rate,sizeof(error_correction_rate));
    str.write((char*)&trackingMinDetections,sizeof(trackingMinDetections));

    _toStream(dictionary,str);
}
void MarkerDetector::Params::fromStream(std::istream &str) {
    str.read((char*)&detectMode,sizeof(detectMode));
    str.read((char*)&maxThreads,sizeof(maxThreads));
    str.read((char*)&borderDistThres,sizeof(borderDistThres));
    str.read((char*)&lowResMarkerSize,sizeof(lowResMarkerSize));
    str.read((char*)&minSize,sizeof(minSize));
    str.read((char*)&minSize_pix,sizeof(minSize_pix));
    str.read((char*)&enclosedMarker,sizeof(enclosedMarker));
    str.read((char*)&thresMethod,sizeof(thresMethod));
    str.read((char*)&NAttemptsAutoThresFix,sizeof(NAttemptsAutoThresFix));
    str.read((char*)&AdaptiveThresWindowSize,sizeof(AdaptiveThresWindowSize));
    str.read((char*)&ThresHold,sizeof(ThresHold));
    str.read((char*)&AdaptiveThresWindowSize_range,sizeof(AdaptiveThresWindowSize_range));
    str.read((char*)&markerWarpPixSize,sizeof(markerWarpPixSize));
    str.read((char*)&cornerRefinementM,sizeof(cornerRefinementM));
    str.read((char*)&autoSize,sizeof(autoSize));
    str.read((char*)&ts,sizeof(pyrfactor));
    str.read((char*)&error_correction_rate,sizeof(error_correction_rate));
    str.read((char*)&trackingMinDetections,sizeof(trackingMinDetections));
    _fromStream(dictionary,str);
}
/**Saves the configuration of the detector to a file
 */
void MarkerDetector::saveParamsToFile(const std::string &path) const{
 _impl->saveParamsToFile(path);
}

/**Loads the configuration from a file
 */
void MarkerDetector::loadParamsFromFile(const std::string &path){
    _impl->loadParamsFromFile(path);
}

void MarkerDetector::toStream(std::ostream &str)const
{
    _impl->toStream(str);

}

void MarkerDetector::fromStream(std::istream &str){
    _impl->fromStream(str);
}

std::string MarkerDetector::Params::toString(DetectionMode dm){
    switch(dm){
    case DM_FAST:return "DM_FAST";
    case DM_NORMAL:return "DM_NORMAL";
    case DM_VIDEO_FAST:return "DM_VIDEO_FAST";
    };
    return "DM_NORMAL";
}

DetectionMode MarkerDetector::Params::getDetectionModeFromString(const std::string &str){
    if ( str=="DM_FAST")return DM_FAST;
    if ( str=="DM_NORMAL")return DM_NORMAL;
    if ( str=="DM_VIDEO_FAST")return DM_VIDEO_FAST;
    return DM_NORMAL;

}

std::string MarkerDetector::Params::toString(CornerRefinementMethod dm){
    switch(dm){
    case CORNER_LINES:return "CORNER_LINES";
    case CORNER_SUBPIX:return "CORNER_SUBPIX";
    case CORNER_NONE:return "CORNER_NONE";
    };
    return "CORNER_SUBPIX";
}
CornerRefinementMethod MarkerDetector::Params::getCornerRefinementMethodFromString(const std::string &str){
    if ( str=="CORNER_LINES")return CORNER_LINES;
    if ( str=="CORNER_SUBPIX")return CORNER_SUBPIX;
    if ( str=="CORNER_NONE")return CORNER_NONE;
    return CORNER_SUBPIX;
}
std::string MarkerDetector::Params::toString(MarkerDetector::ThresMethod dm){
    switch(dm){
    case THRES_ADAPTIVE:return "THRES_ADAPTIVE";
    case THRES_AUTO_FIXED:return "THRES_AUTO_FIXED";
     };
    return "THRES_ADAPTIVE";
}
MarkerDetector::ThresMethod MarkerDetector::Params::getCornerThresMethodFromString(const std::string &str){
    if ( str=="THRES_ADAPTIVE")return THRES_ADAPTIVE;
    if ( str=="THRES_AUTO_FIXED")return THRES_AUTO_FIXED;
     return THRES_ADAPTIVE;
}
void  MarkerDetector::Params::setThresholdMethod( MarkerDetector::ThresMethod  method,int thresHold,int wsize,int wsize_range ){
    AdaptiveThresWindowSize=wsize;
    thresMethod=method;
    if (thresHold==-1){
        if ( method==MarkerDetector::THRES_AUTO_FIXED ) ThresHold=100;
        else ThresHold=7;
    }
    else  ThresHold=thresHold;
    AdaptiveThresWindowSize_range=wsize_range;
}
void  MarkerDetector::Params::setDetectionMode( DetectionMode dm,float minMarkerSize){
    detectMode=dm;
    minSize=minMarkerSize;
    if(detectMode==DM_NORMAL){
        setAutoSizeSpeedUp(false);
        setThresholdMethod(THRES_ADAPTIVE);
    }
    else if (detectMode==DM_FAST ){
        setAutoSizeSpeedUp(false);
        setThresholdMethod(THRES_AUTO_FIXED);
    }
    else if(detectMode==DM_VIDEO_FAST){
        setThresholdMethod(THRES_AUTO_FIXED);
        setAutoSizeSpeedUp(true,0.3);
    }
}
void MarkerDetector::Params::setCornerRefinementMethod( CornerRefinementMethod method){
    cornerRefinementM=method;
    if(method!=CORNER_SUBPIX)  minSize=0;
}
  void MarkerDetector::Params::_toStream(const std::string &strg,std::ostream &str){
    uint32_t s=strg.size();
    str.write((char*)&s,sizeof(s));
    str.write(strg.c_str(),strg.size());
}
  void MarkerDetector::Params::_fromStream(std::string &strg,std::istream &str){
    uint32_t s;
    str.read((char*)&s,sizeof(s));
    strg.resize(s);
    str.read(&strg[0],strg.size());
}

  void  MarkerDetector::cornerUpsample(std::vector<std::vector<cv::Point2f> >& corners, cv::Size lowResImageSize ){
      _impl->_14028278894506040778(corners,lowResImageSize);
  }



};
