/* 
 * 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 NyARToolkitCS is C# edition ARToolKit class library.
 * Copyright (C)2008-2009 Ryo 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 3 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 program.  If not, see <http://www.gnu.org/licenses/>.
 * 
 * For further information please contact.
 *	http://nyatla.jp/nyatoolkit/
 *	<airmail(at)ebony.plala.or.jp> or <nyatla(at)nyatla.jp>
 * 
 */
using System;
using System.Collections.Generic;
using System.Text;

namespace jp.nyatla.nyartoolkit.cs.core
{
    public class SquareContourDetector
    {
        private const double VERTEX_FACTOR = 1.0;// 線検出のファクタ	
        private double[] _xpos;
        private double[] _ypos;
        private int[] __detectMarker_mkvertex = new int[5];
        private NyARVertexCounter __getSquareVertex_wv1 = new NyARVertexCounter();
        private NyARVertexCounter __getSquareVertex_wv2 = new NyARVertexCounter();
        private INyARPca2d _pca;
        private NyARDoubleMatrix22 __getSquareLine_evec = new NyARDoubleMatrix22();
        private NyARDoublePoint2d __getSquareLine_mean = new NyARDoublePoint2d();
        private NyARDoublePoint2d __getSquareLine_ev = new NyARDoublePoint2d();
        private NyARObserv2IdealMap _dist_factor;
        public SquareContourDetector(NyARIntSize i_size, NyARCameraDistortionFactor i_distfactor_ref)
        {
            //歪み計算テーブルを作ると、8*width/height*2の領域を消費します。
            //領域を取りたくない場合は、i_dist_factor_refの値をそのまま使ってください。
            this._dist_factor = new NyARObserv2IdealMap(i_distfactor_ref, i_size);


            // 輪郭バッファは頂点変換をするので、輪郭バッファの２倍取る。
            this._pca = new NyARPca2d_MatrixPCA_O2();
            this._xpos = new double[i_size.w + i_size.h];//最大辺長はthis._width+this._height
            this._ypos = new double[i_size.w + i_size.h];//最大辺長はthis._width+this._height
            return;
        }

        public bool coordToSquare(int[] i_xcoord, int[] i_ycoord, int i_st_index, int i_coord_num, int i_label_area, NyARSquare o_square)
        {

            int[] mkvertex = this.__detectMarker_mkvertex;

            // 頂点情報を取得
            if (!getSquareVertex(i_xcoord, i_ycoord, i_st_index, i_coord_num, i_label_area, mkvertex))
            {
                // 頂点の取得が出来なかったので破棄
                return false;
            }
            // マーカーを検出
            if (!getSquareLine(mkvertex, i_xcoord, i_ycoord, o_square))
            {
                // 矩形が成立しなかった。
                return false;
            }
            return true;
        }

        private bool getSquareLine(int[] i_mkvertex, int[] i_xcoord, int[] i_ycoord, NyARSquare o_square)
        {
            NyARLinear[] l_line = o_square.line;
            NyARDoubleMatrix22 evec = this.__getSquareLine_evec;
            NyARDoublePoint2d mean = this.__getSquareLine_mean;
            NyARDoublePoint2d ev = this.__getSquareLine_ev;


            for (int i = 0; i < 4; i++)
            {
                double w1 = (double)(i_mkvertex[i + 1] - i_mkvertex[i] + 1) * 0.05 + 0.5;
                int st = (int)(i_mkvertex[i] + w1);
                int ed = (int)(i_mkvertex[i + 1] - w1);
                int n = ed - st + 1;
                if (n < 2)
                {
                    // nが2以下でmatrix.PCAを計算することはできないので、エラー
                    return false;
                }
                //配列作成
                this._dist_factor.observ2IdealBatch(i_xcoord, i_ycoord, st, n, this._xpos, this._ypos);

                //主成分分析する。
                this._pca.pca(this._xpos, this._ypos, n, evec, ev, mean);
                NyARLinear l_line_i = l_line[i];
                l_line_i.run = evec.m01;// line[i][0] = evec->m[1];
                l_line_i.rise = -evec.m00;// line[i][1] = -evec->m[0];
                l_line_i.intercept = -(l_line_i.run * mean.x + l_line_i.rise * mean.y);// line[i][2] = -(line[i][0]*mean->v[0] + line[i][1]*mean->v[1]);
            }

            NyARDoublePoint2d[] l_sqvertex = o_square.sqvertex;
            NyARIntPoint2d[] l_imvertex = o_square.imvertex;
            for (int i = 0; i < 4; i++)
            {
                NyARLinear l_line_i = l_line[i];
                NyARLinear l_line_2 = l_line[(i + 3) % 4];
                double w1 = l_line_2.run * l_line_i.rise - l_line_i.run * l_line_2.rise;
                if (w1 == 0.0)
                {
                    return false;
                }
                l_sqvertex[i].x = (l_line_2.rise * l_line_i.intercept - l_line_i.rise * l_line_2.intercept) / w1;
                l_sqvertex[i].y = (l_line_i.run * l_line_2.intercept - l_line_2.run * l_line_i.intercept) / w1;
                // 頂点インデクスから頂点座標を得て保存
                l_imvertex[i].x = i_xcoord[i_mkvertex[i]];
                l_imvertex[i].y = i_ycoord[i_mkvertex[i]];
            }
            return true;
        }
        private bool getSquareVertex(int[] i_x_coord, int[] i_y_coord, int i_vertex1_index, int i_coord_num, int i_area, int[] o_vertex)
        {
            NyARVertexCounter wv1 = this.__getSquareVertex_wv1;
            NyARVertexCounter wv2 = this.__getSquareVertex_wv2;
            int end_of_coord = i_vertex1_index + i_coord_num - 1;
            int sx = i_x_coord[i_vertex1_index];// sx = marker_info2->x_coord[0];
            int sy = i_y_coord[i_vertex1_index];// sy = marker_info2->y_coord[0];
            int dmax = 0;
            int v1 = i_vertex1_index;
            for (int i = 1 + i_vertex1_index; i < end_of_coord; i++)
            {// for(i=1;i<marker_info2->coord_num-1;i++)
                // {
                int d = (i_x_coord[i] - sx) * (i_x_coord[i] - sx) + (i_y_coord[i] - sy) * (i_y_coord[i] - sy);
                if (d > dmax)
                {
                    dmax = d;
                    v1 = i;
                }
            }
            double thresh = (i_area / 0.75) * 0.01 * VERTEX_FACTOR;

            o_vertex[0] = i_vertex1_index;

            if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v1, thresh))
            { // if(get_vertex(marker_info2->x_coord,marker_info2->y_coord,0,v1,thresh,wv1,&wvnum1)<
                // 0 ) {
                return false;
            }
            if (!wv2.getVertex(i_x_coord, i_y_coord, v1, end_of_coord, thresh))
            {// if(get_vertex(marker_info2->x_coord,marker_info2->y_coord,v1,marker_info2->coord_num-1,thresh,wv2,&wvnum2)
                // < 0) {
                return false;
            }

            int v2;
            if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1)
            {// if(wvnum1 == 1 && wvnum2== 1) {
                o_vertex[1] = wv1.vertex[0];
                o_vertex[2] = v1;
                o_vertex[3] = wv2.vertex[0];
            }
            else if (wv1.number_of_vertex > 1 && wv2.number_of_vertex == 0)
            {// }else if( wvnum1 > 1 && wvnum2== 0) {
                //頂点位置を、起点から対角点の間の1/2にあると予想して、検索する。
                v2 = (v1 - i_vertex1_index) / 2 + i_vertex1_index;
                if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v2, thresh))
                {
                    return false;
                }
                if (!wv2.getVertex(i_x_coord, i_y_coord, v2, v1, thresh))
                {
                    return false;
                }
                if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1)
                {
                    o_vertex[1] = wv1.vertex[0];
                    o_vertex[2] = wv2.vertex[0];
                    o_vertex[3] = v1;
                }
                else
                {
                    return false;
                }
            }
            else if (wv1.number_of_vertex == 0 && wv2.number_of_vertex > 1)
            {
                //v2 = (v1-i_vertex1_index+ end_of_coord-i_vertex1_index) / 2+i_vertex1_index;
                v2 = (v1 + end_of_coord) / 2;

                if (!wv1.getVertex(i_x_coord, i_y_coord, v1, v2, thresh))
                {
                    return false;
                }
                if (!wv2.getVertex(i_x_coord, i_y_coord, v2, end_of_coord, thresh))
                {
                    return false;
                }
                if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1)
                {
                    o_vertex[1] = v1;
                    o_vertex[2] = wv1.vertex[0];
                    o_vertex[3] = wv2.vertex[0];
                }
                else
                {
                    return false;
                }
            }
            else
            {
                return false;
            }
            o_vertex[4] = end_of_coord;
            return true;
        }

        /**
         * 輪郭線の矩形検出開始ポイントを特定して、座標を並べ替えます。
         * 輪郭線の先頭から、対角線が最長になる点を１点検索し、それより前の区間をバッファの後方に接続します。
         * 戻り値は対角線が最長になった点です。関数終了後、返却値+i_coord_numの要素が有効になります。
         * @param i_xcoord
         * @param i_ycoord
         * @param i_coord_num
         * @return
         */
        public static int normalizeCoord(int[] i_coord_x, int[] i_coord_y, int i_coord_num)
        {
            //
            int sx = i_coord_x[0];
            int sy = i_coord_y[0];
            int d = 0;
            int w, x, y;
            int ret = 0;
            for (int i = 1; i < i_coord_num; i++)
            {
                x = i_coord_x[i] - sx;
                y = i_coord_y[i] - sy;
                w = x * x + y * y;
                if (w > d)
                {
                    d = w;
                    ret = i;
                }
                // ここでうまく終了条件入れられないかな。
            }
            // vertex1を境界にして、後方に配列を連結
            Array.Copy(i_coord_x, 1, i_coord_x, i_coord_num, ret);
            Array.Copy(i_coord_y, 1, i_coord_y, i_coord_num, ret);
            return ret;
        }

    }
}
