/* 
 * PROJECT: NyARToolkitCS
 * --------------------------------------------------------------------------------
 * This work is based on the original ARToolKit developed by
 *   Hirokazu Kato
 *   Mark Billinghurst
 *   HITLab, University of Washington, Seattle
 * http://www.hitl.washington.edu/artoolkit/
 *
 * The NyARToolkit is Java version ARToolkit class library.
 * Copyright (C)2008 R.Iizuka
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 * 
 * You should have received a copy of the GNU General Public License
 * along with this framework; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 * 
 * For further information please contact.
 *	http://nyatla.jp/nyatoolkit/
 *	<airmail(at)ebony.plala.or.jp>
 * 
 */
using jp.nyatla.nyartoolkit.cs.utils;
using System;
namespace jp.nyatla.nyartoolkit.cs.core
{

    /**
     * カメラの歪み成分を格納するクラスと、補正関数群
     * http://www.hitl.washington.edu/artoolkit/Papers/ART02-Tutorial.pdf
     * 11ページを読むといいよ。
     * 
     * x=x(xi-x0),y=s(yi-y0)
     * d^2=x^2+y^2
     * p=(1-fd^2)
     * xd=px+x0,yd=py+y0
     */
    public class NyARCameraDistortionFactor : INyARCameraDistortionFactor
    {
        private const int PD_LOOP = 3;
        private double _f0;//x0
        private double _f1;//y0
        private double _f2;//100000000.0*ｆ
        private double _f3;//s
        public void copyFrom(NyARCameraDistortionFactor i_ref)
        {
            this._f0 = i_ref._f0;
            this._f1 = i_ref._f1;
            this._f2 = i_ref._f2;
            this._f3 = i_ref._f3;
            return;
        }
        /**
         * 配列の値をファクタ値としてセットする。
         * @param i_factor
         * 4要素以上の配列
         */
        public void setValue(double[] i_factor)
        {
            this._f0 = i_factor[0];
            this._f1 = i_factor[1];
            this._f2 = i_factor[2];
            this._f3 = i_factor[3];
            return;
        }
        public void getValue(double[] o_factor)
        {
            o_factor[0] = this._f0;
            o_factor[1] = this._f1;
            o_factor[2] = this._f2;
            o_factor[3] = this._f3;
            return;
        }
        public void changeScale(double i_scale)
        {
            this._f0 = this._f0 * i_scale;// newparam->dist_factor[0] =source->dist_factor[0] *scale;
            this._f1 = this._f1 * i_scale;// newparam->dist_factor[1] =source->dist_factor[1] *scale;
            this._f2 = this._f2 / (i_scale * i_scale);// newparam->dist_factor[2]=source->dist_factor[2]/ (scale*scale);
            //this.f3=this.f3;// newparam->dist_factor[3] =source->dist_factor[3];
            return;
        }
        /**
         * int arParamIdeal2Observ( const double dist_factor[4], const double ix,const double iy,double *ox, double *oy ) 関数の代替関数
         * 
         * @param i_in
         * @param o_out
         */
        public void ideal2Observ(NyARDoublePoint2d i_in, NyARDoublePoint2d o_out)
        {
            double x = (i_in.x - this._f0) * this._f3;
            double y = (i_in.y - this._f1) * this._f3;
            if (x == 0.0 && y == 0.0)
            {
                o_out.x = this._f0;
                o_out.y = this._f1;
            }
            else
            {
                double d = 1.0 - this._f2 / 100000000.0 * (x * x + y * y);
                o_out.x = x * d + this._f0;
                o_out.y = y * d + this._f1;
            }
            return;
        }

        /**
         * ideal2Observをまとめて実行します。
         * @param i_in
         * @param o_out
         */
        public void ideal2ObservBatch(NyARDoublePoint2d[] i_in, NyARDoublePoint2d[] o_out, int i_size)
        {
            double x, y;
            double d0 = this._f0;
            double d1 = this._f1;
            double d3 = this._f3;
            double d2_w = this._f2 / 100000000.0;
            for (int i = 0; i < i_size; i++)
            {
                x = (i_in[i].x - d0) * d3;
                y = (i_in[i].y - d1) * d3;
                if (x == 0.0 && y == 0.0)
                {
                    o_out[i].x = d0;
                    o_out[i].y = d1;
                }
                else
                {
                    double d = 1.0 - d2_w * (x * x + y * y);
                    o_out[i].x = x * d + d0;
                    o_out[i].y = y * d + d1;
                }
            }
            return;
        }

        /**
         * int arParamObserv2Ideal( const double dist_factor[4], const double ox,const double oy,double *ix, double *iy );
         * 
         * @param ox
         * @param oy
         * @param ix
         * @param iy
         * @return
         */
        public void observ2Ideal(double ix, double iy, NyARDoublePoint2d o_point)
        {
            double z02, z0, p, q, z, px, py, opttmp_1;
            double d0 = this._f0;
            double d1 = this._f1;

            px = ix - d0;
            py = iy - d1;
            p = this._f2 / 100000000.0;
            z02 = px * px + py * py;
            q = z0 = Math.Sqrt(z02);// Optimize//q = z0 = Math.sqrt(px*px+ py*py);

            for (int i = 1; ; i++)
            {
                if (z0 != 0.0)
                {
                    // Optimize opttmp_1
                    opttmp_1 = p * z02;
                    z = z0 - ((1.0 - opttmp_1) * z0 - q) / (1.0 - 3.0 * opttmp_1);
                    px = px * z / z0;
                    py = py * z / z0;
                }
                else
                {
                    px = 0.0;
                    py = 0.0;
                    break;
                }
                if (i == PD_LOOP)
                {
                    break;
                }
                z02 = px * px + py * py;
                z0 = Math.Sqrt(z02);// Optimize//z0 = Math.sqrt(px*px+ py*py);
            }
            o_point.x = px / this._f3 + d0;
            o_point.y = py / this._f3 + d1;
            return;
        }
        /**
         * 指定範囲のobserv2Idealをまとめて実行して、結果をo_idealに格納します。
         * @param i_x_coord
         * @param i_y_coord
         * @param i_start
         *            coord開始点
         * @param i_num
         *            計算数
         * @param o_ideal
         *            出力バッファ[i_num][2]であること。
         */
        public void observ2IdealBatch(int[] i_x_coord, int[] i_y_coord, int i_start, int i_num, double[] o_x_coord, double[] o_y_coord)
        {
            double z02, z0, q, z, px, py, opttmp_1;
            double d0 = this._f0;
            double d1 = this._f1;
            double d3 = this._f3;
            double p = this._f2 / 100000000.0;
            for (int j = 0; j < i_num; j++)
            {

                px = i_x_coord[i_start + j] - d0;
                py = i_y_coord[i_start + j] - d1;

                z02 = px * px + py * py;
                q = z0 = Math.Sqrt(z02);// Optimize//q = z0 = Math.sqrt(px*px+py*py);

                for (int i = 1; ; i++)
                {
                    if (z0 != 0.0)
                    {
                        // Optimize opttmp_1
                        opttmp_1 = p * z02;
                        z = z0 - ((1.0 - opttmp_1) * z0 - q) / (1.0 - 3.0 * opttmp_1);
                        px = px * z / z0;
                        py = py * z / z0;
                    }
                    else
                    {
                        px = 0.0;
                        py = 0.0;
                        break;
                    }
                    if (i == PD_LOOP)
                    {
                        break;
                    }
                    z02 = px * px + py * py;
                    z0 = Math.Sqrt(z02);// Optimize//z0 = Math.sqrt(px*px+ py*py);
                }
                o_x_coord[j] = px / d3 + d0;
                o_y_coord[j] = py / d3 + d1;
            }
            return;
        }
    }
}