/**
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 "marker.h"

/// \todo set this definition in the cmake code
#define _USE_MATH_DEFINES

#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/imgproc/imgproc.hpp>

#include <cstdio>
#include <math.h>
#include "cameraparameters.h"
#include "ippe.h"

namespace aruco
{
    /**
     *
     */
    Marker::Marker()
    {
        id = -1;
        ssize = -1;
        Rvec.create(3, 1, CV_32FC1);
        Tvec.create(3, 1, CV_32FC1);
        for (int i = 0; i < 3; i++)
            Tvec.at<float>(i, 0) = Rvec.at<float>(i, 0) = -999999;
    }
    /**
     *
     */
    Marker::Marker(int _id)
    {
        id = _id;
        ssize = -1;
        Rvec.create(3, 1, CV_32FC1);
        Tvec.create(3, 1, CV_32FC1);
        for (int i = 0; i < 3; i++)
            Tvec.at<float>(i, 0) = Rvec.at<float>(i, 0) = -999999;
    }
    /**
     *
     */
    Marker::Marker(const Marker& M)
          : std::vector<cv::Point2f>(M)
    {
       M.copyTo(*this);
    }

    /**
     *
    */
    Marker::Marker(const std::vector<cv::Point2f>& corners, int _id)
          : std::vector<cv::Point2f>(corners)
    {
        id = _id;
        ssize = -1;
        Rvec.create(3, 1, CV_32FC1);
        Tvec.create(3, 1, CV_32FC1);
        for (int i = 0; i < 3; i++)
            Tvec.at<float>(i, 0) = Rvec.at<float>(i, 0) = -999999;
    }

    void  Marker::copyTo(Marker &m)const{
        m.id=id;
        // size of the markers sides in meters
        m.ssize=ssize;
        // matrices of rotation and translation respect to the camera
        Rvec.copyTo(m.Rvec );
        Tvec.copyTo(m.Tvec);
        m.resize(size());
        for(size_t i=0;i<size();i++)
            m.at(i)=at(i);
        m.dict_info=dict_info;
        m.contourPoints=contourPoints;

    }
    /**compares ids
     */
    Marker &  Marker::operator=(const Marker& m)
    {
        m.copyTo(*this);
        return *this;
    }
    /**
     *
    */
    void Marker::glGetModelViewMatrix(double modelview_matrix[16])
    {
        // check if paremeters are valid
        bool invalid = false;
        for (int i = 0; i < 3 && !invalid; i++)
        {
            if (Tvec.at<float>(i, 0) != -999999)
                invalid |= false;
            if (Rvec.at<float>(i, 0) != -999999)
                invalid |= false;
        }
        if (invalid)
            throw cv::Exception(9003, "extrinsic parameters are not set", "Marker::getModelViewMatrix", __FILE__,
                                __LINE__);
        cv::Mat Rot(3, 3, CV_32FC1), Jacob;
        cv::Rodrigues(Rvec, Rot, Jacob);

        double para[3][4];
        for (int i = 0; i < 3; i++)
            for (int j = 0; j < 3; j++)
                para[i][j] = Rot.at<float>(i, j);
        // now, add the translation
        para[0][3] = Tvec.at<float>(0, 0);
        para[1][3] = Tvec.at<float>(1, 0);
        para[2][3] = Tvec.at<float>(2, 0);
        double scale = 1;

        modelview_matrix[0 + 0 * 4] = para[0][0];
        // R1C2
        modelview_matrix[0 + 1 * 4] = para[0][1];
        modelview_matrix[0 + 2 * 4] = para[0][2];
        modelview_matrix[0 + 3 * 4] = para[0][3];
        // R2
        modelview_matrix[1 + 0 * 4] = para[1][0];
        modelview_matrix[1 + 1 * 4] = para[1][1];
        modelview_matrix[1 + 2 * 4] = para[1][2];
        modelview_matrix[1 + 3 * 4] = para[1][3];
        // R3
        modelview_matrix[2 + 0 * 4] = -para[2][0];
        modelview_matrix[2 + 1 * 4] = -para[2][1];
        modelview_matrix[2 + 2 * 4] = -para[2][2];
        modelview_matrix[2 + 3 * 4] = -para[2][3];
        modelview_matrix[3 + 0 * 4] = 0.0;
        modelview_matrix[3 + 1 * 4] = 0.0;
        modelview_matrix[3 + 2 * 4] = 0.0;
        modelview_matrix[3 + 3 * 4] = 1.0;
        if (scale != 0.0)
        {
            modelview_matrix[12] *= scale;
            modelview_matrix[13] *= scale;
            modelview_matrix[14] *= scale;
        }
    }

    /****
     *
     */
    void Marker::OgreGetPoseParameters(double position[3], double orientation[4])
    {
        // check if paremeters are valid
        bool invalid = false;
        for (int i = 0; i < 3 && !invalid; i++)
        {
            if (Tvec.at<float>(i, 0) != -999999)
                invalid |= false;
            if (Rvec.at<float>(i, 0) != -999999)
                invalid |= false;
        }
        if (invalid)
            throw cv::Exception(9003, "extrinsic parameters are not set", "Marker::getModelViewMatrix", __FILE__,
                                __LINE__);

        // calculate position vector
        position[0] = -Tvec.ptr<float>(0)[0];
        position[1] = -Tvec.ptr<float>(0)[1];
        position[2] = +Tvec.ptr<float>(0)[2];

        // now calculare orientation quaternion
        cv::Mat Rot(3, 3, CV_32FC1);
        cv::Rodrigues(Rvec, Rot);

        // calculate axes for quaternion
        double stAxes[3][3];
        // x axis
        stAxes[0][0] = -Rot.at<float>(0, 0);
        stAxes[0][1] = -Rot.at<float>(1, 0);
        stAxes[0][2] = +Rot.at<float>(2, 0);
        // y axis
        stAxes[1][0] = -Rot.at<float>(0, 1);
        stAxes[1][1] = -Rot.at<float>(1, 1);
        stAxes[1][2] = +Rot.at<float>(2, 1);
        // for z axis, we use cross product
        stAxes[2][0] = stAxes[0][1] * stAxes[1][2] - stAxes[0][2] * stAxes[1][1];
        stAxes[2][1] = -stAxes[0][0] * stAxes[1][2] + stAxes[0][2] * stAxes[1][0];
        stAxes[2][2] = stAxes[0][0] * stAxes[1][1] - stAxes[0][1] * stAxes[1][0];

        // transposed matrix
        double axes[3][3];
        axes[0][0] = stAxes[0][0];
        axes[1][0] = stAxes[0][1];
        axes[2][0] = stAxes[0][2];

        axes[0][1] = stAxes[1][0];
        axes[1][1] = stAxes[1][1];
        axes[2][1] = stAxes[1][2];

        axes[0][2] = stAxes[2][0];
        axes[1][2] = stAxes[2][1];
        axes[2][2] = stAxes[2][2];

        // Algorithm in Ken Shoemake's article in 1987 SIGGRAPH course notes
        // article "Quaternion Calculus and Fast Animation".
        double fTrace = axes[0][0] + axes[1][1] + axes[2][2];
        double fRoot;

        if (fTrace > 0.0)
        {
            // |w| > 1/2, may as well choose w > 1/2
            fRoot = sqrt(fTrace + 1.0);  // 2w
            orientation[0] = 0.5 * fRoot;
            fRoot = 0.5 / fRoot;  // 1/(4w)
            orientation[1] = (axes[2][1] - axes[1][2]) * fRoot;
            orientation[2] = (axes[0][2] - axes[2][0]) * fRoot;
            orientation[3] = (axes[1][0] - axes[0][1]) * fRoot;
        }
        else
        {
            // |w| <= 1/2
            static unsigned int s_iNext[3] = {1, 2, 0};
            unsigned int i = 0;
            if (axes[1][1] > axes[0][0])
                i = 1;
            if (axes[2][2] > axes[i][i])
                i = 2;
            unsigned int j = s_iNext[i];
            unsigned int k = s_iNext[j];

            fRoot = sqrt(axes[i][i] - axes[j][j] - axes[k][k] + 1.0);
            double* apkQuat[3] = {&orientation[1], &orientation[2], &orientation[3]};
            *apkQuat[i] = 0.5 * fRoot;
            fRoot = 0.5 / fRoot;
            orientation[0] = (axes[k][j] - axes[j][k]) * fRoot;
            *apkQuat[j] = (axes[j][i] + axes[i][j]) * fRoot;
            *apkQuat[k] = (axes[k][i] + axes[i][k]) * fRoot;
        }
    }

    void Marker::draw(cv::Mat& in,  cv::Scalar color, int lineWidth, bool writeId, bool writeInfo) const
    {
		
		auto _to_string=[](int i){
			std::stringstream str;str<<i;return str.str();
			};
		
        if (size() != 4)
            return;
        if (lineWidth == -1)  // auto
            lineWidth = static_cast<int>(std::max(1.f, float(in.cols) / 1000.f));
        cv::line(in, (*this)[0], (*this)[1], color, lineWidth);
        cv::line(in, (*this)[1], (*this)[2], color, lineWidth);
        cv::line(in, (*this)[2], (*this)[3], color, lineWidth);
        cv::line(in, (*this)[3], (*this)[0], color, lineWidth);

        auto p2 =  cv::Point2f(2.f * static_cast<float>(lineWidth), 2.f * static_cast<float>(lineWidth));
        cv::rectangle(in, (*this)[0] - p2, (*this)[0] + p2, cv::Scalar(0, 0, 255, 255), -1);
        cv::rectangle(in, (*this)[1] - p2, (*this)[1] + p2, cv::Scalar(0, 255, 0, 255), lineWidth);
        cv::rectangle(in, (*this)[2] - p2, (*this)[2] + p2, cv::Scalar(255, 0, 0, 255), lineWidth);



        if (writeId)
        {
            // determine the centroid
            cv::Point cent(0, 0);
            for (int i = 0; i < 4; i++)
            {
                cent.x += static_cast<int>((*this)[i].x);
                cent.y +=  static_cast<int>((*this)[i].y);
            }
            cent.x /= 4;
            cent.y /= 4;
            std::string str;
            if(writeInfo) str+= dict_info +":";
            if(writeId)str+=_to_string(id);
            cv::putText(in,str, cent,  cv::FONT_HERSHEY_SIMPLEX, std::max(0.5f, float(lineWidth) * 0.3f),
                        cv::Scalar(255,0, 255), std::max(lineWidth, 2));
        }
    }

    /**
     */
    void Marker::calculateExtrinsics(float markerSize, const CameraParameters& CP,
                                     bool setYPerpendicular)
    {
        if (!CP.isValid())
            throw cv::Exception(9004,
                                "!CP.isValid(): invalid camera parameters. It is not possible to calculate extrinsics",
                                "calculateExtrinsics", __FILE__, __LINE__);
        calculateExtrinsics(markerSize, CP.CameraMatrix, CP.Distorsion, setYPerpendicular);
    }

    void print(cv::Point3f p, std::string cad)
    {
        std::cout << cad << " " << p.x << " " << p.y << " " << p.z << std::endl;
    }
    /**
     */
    void Marker::calculateExtrinsics(float markerSizeMeters, cv::Mat camMatrix, cv::Mat distCoeff,
                                     bool setYPerpendicular)
    {
        if (!isValid())
            throw cv::Exception(9004, "!isValid(): invalid marker. It is not possible to calculate extrinsics",
                                "calculateExtrinsics", __FILE__, __LINE__);
        if (markerSizeMeters <= 0)
            throw cv::Exception(9004, "markerSize<=0: invalid markerSize", "calculateExtrinsics", __FILE__, __LINE__);
        if (camMatrix.rows == 0 || camMatrix.cols == 0)
            throw cv::Exception(9004, "CameraMatrix is empty", "calculateExtrinsics", __FILE__, __LINE__);

        vector<cv::Point3f> objpoints = get3DPoints(markerSizeMeters);


        cv::Mat raux, taux;
//        cv::solvePnP(objpoints, *this, camMatrix, distCoeff, raux, taux);
        solvePnP(objpoints, *this,camMatrix, distCoeff,raux,taux);
        raux.convertTo(Rvec, CV_32F);
        taux.convertTo(Tvec, CV_32F);
        // rotate the X axis so that Y is perpendicular to the marker plane
        if (setYPerpendicular)
            rotateXAxis(Rvec);
        ssize = markerSizeMeters;
        // cout<<(*this)<<endl;

//        auto setPrecision=[](double f, double prec){
//            int x=roundf(f*prec);
//            return  double(x)/prec;
//        };
//        for(int i=0;i<3;i++){
//            Rvec.ptr<float>(0)[i]=setPrecision(Rvec.ptr<float>(0)[i],100);
//            Tvec.ptr<float>(0)[i]=setPrecision(Tvec.ptr<float>(0)[i],1000);
//        }

    }

    std::vector<cv::Point3f> Marker::get3DPoints(float msize)
    {
        float halfSize = msize / 2.f;
//        std::vector<cv::Point3f>  res(4);
//        res[0]=cv::Point3f(-halfSize, halfSize, 0);
//        res[1]=cv::Point3f(halfSize, halfSize, 0);
//        res[2]=cv::Point3f(halfSize,-halfSize, 0);
//        res[3]=cv::Point3f(-halfSize,- halfSize, 0);
//        return res;
        return {cv::Point3f(-halfSize, halfSize, 0),cv::Point3f(halfSize, halfSize, 0),cv::Point3f(halfSize,-halfSize, 0),cv::Point3f(-halfSize, -halfSize, 0)};

    }

    void Marker::rotateXAxis( cv::Mat& rotation)
    {
        cv::Mat R(3, 3, CV_32F);
         cv::Rodrigues(rotation, R);
        // create a rotation matrix for x axis
        cv::Mat RX = cv::Mat::eye(3, 3, CV_32F);
        const float angleRad = 3.14159265359f / 2.f;
        RX.at<float>(1, 1) = cos(angleRad);
        RX.at<float>(1, 2) = -sin(angleRad);
        RX.at<float>(2, 1) = sin(angleRad);
        RX.at<float>(2, 2) = cos(angleRad);
        // now multiply
        R = R * RX;
        // finally, the the rodrigues back
        Rodrigues(R, rotation);
    }

    /**
     */
    cv::Point2f Marker::getCenter() const
    {
        cv::Point2f cent(0, 0);
        for (size_t i = 0; i < size(); i++)
        {
            cent.x += (*this)[i].x;
            cent.y += (*this)[i].y;
        }
        cent.x /= float(size());
        cent.y /= float(size());
        return cent;
    }

    /**
     */
    float Marker::getArea() const
    {
        assert(size() == 4);
        // use the cross products
        cv::Point2f v01 = (*this)[1] - (*this)[0];
        cv::Point2f v03 = (*this)[3] - (*this)[0];
        float area1 = fabs(v01.x * v03.y - v01.y * v03.x);
        cv::Point2f v21 = (*this)[1] - (*this)[2];
        cv::Point2f v23 = (*this)[3] - (*this)[2];
        float area2 = fabs(v21.x * v23.y - v21.y * v23.x);
        return (area2 + area1) / 2.f;
    }
    /**
     */
    float Marker::getPerimeter() const
    {
        assert(size() == 4);
        float sum = 0;
        for (int i = 0; i < 4; i++)
            sum += static_cast<float>(norm((*this)[i] - (*this)[(i + 1) % 4]));
        return sum;
    }


    // saves to a binary stream
    void Marker::toStream(std::ostream& str) const
    {
        assert(Rvec.type() == CV_32F && Tvec.type() == CV_32F);
        str.write((char*)&id, sizeof(id));
        str.write((char*)&ssize, sizeof(ssize));
        str.write((char*)Rvec.ptr<float>(0), 3 * sizeof(float));
        str.write((char*)Tvec.ptr<float>(0), 3 * sizeof(float));
        // write the 2d points
        uint32_t np = static_cast<uint32_t> (size());
        str.write((char*)&np, sizeof(np));
        for (size_t i = 0; i < size(); i++)
            str.write((char*)&at(i), sizeof(cv::Point2f));
        //write the additional info
        uint32_t s=dict_info.size();
        str.write((char*)&s, sizeof(s));
        str.write((char*)&dict_info[0], dict_info.size());
        s=contourPoints.size();
        str.write((char*)&s, sizeof(s));
        str.write((char*)&contourPoints[0], contourPoints.size()*sizeof(contourPoints[0]));

    }
    // reads from a binary stream
    void Marker::fromStream(std::istream& str)
    {
        Rvec.create(1, 3, CV_32F);
        Tvec.create(1, 3, CV_32F);
        str.read((char*)&id, sizeof(id));
        str.read((char*)&ssize, sizeof(ssize));
        str.read((char*)Rvec.ptr<float>(0), 3 * sizeof(float));
        str.read((char*)Tvec.ptr<float>(0), 3 * sizeof(float));
        uint32_t np;
        str.read((char*)&np, sizeof(np));
        resize(np);
        for (size_t i = 0; i < size(); i++)
            str.read((char*)&(*this)[i], sizeof(cv::Point2f));
        //read the additional info
        uint32_t s;
        str.read((char*)&s, sizeof(s));
         dict_info.resize(s);
        str.read((char*)&dict_info[0], dict_info.size());
        str.read((char*)&s, sizeof(s));
        contourPoints.resize(s);
        str.read((char*)&contourPoints[0], contourPoints.size()*sizeof(contourPoints[0]));
    }

    cv::Mat Marker::getTransformMatrix()const{

        cv::Mat T=cv::Mat::eye(4,4,CV_32F);
        cv::Mat rot=T.rowRange(0,3).colRange(0,3);
        cv::Rodrigues(Rvec,rot);
        for(int i=0;i<3;i++)
            T.at<float>(i,3)=Tvec.ptr<float>(0)[i];
        return T;
    }

    float Marker::getRadius()const{

        auto center=getCenter();

        float maxDist=0;
        for(auto p:*this)
            maxDist=std::max(maxDist, float(cv::norm(p-center)) );
        return maxDist;
    }

}
