#include <opencv.hpp>
#include <math.h>
#include <io.h>
#include "chessboard.h"
#include "utils.h"

namespace graft_cv {
	CChessboard::CChessboard(
		ConfigParam& cp,
		CGcvLogger*pLog)
		:m_cp(cp), 
		m_pLogger(pLog),
		m_dtype(img_type::tea_grab)
	{
	}
	CChessboard::~CChessboard() {};
	int CChessboard::detect(
		ImgInfo*imginfo, 
		PositionInfo& posinfo,
		int corner_row,
		int corner_col,
		int x0,
		int y0,
		int width,
		int height,
		const char* fn)
	{
		//1 load data
		load_data(imginfo, fn);

		//2 
		if (m_cp.image_show) {
			cv::Rect rc = cv::Rect(x0, y0, width, height);
			cv::Mat img_tmp = m_raw_img.clone();
			cv::rectangle(img_tmp, rc, cv::Scalar(0, 0, 255),3);
			imshow_wait("crop", img_tmp);			
		}
		cv::Mat crop_img = m_raw_img(cv::Range(y0, y0 + height),cv::Range(x0, x0 + width));
		if (m_cp.image_show) {
			imshow_wait("cropped", crop_img);
		}
		//3 
		std::vector<cv::Point2f> pointbuf;
		bool found = cv::findChessboardCorners(
			crop_img,
			cv::Size(corner_row, corner_col),
			pointbuf);
		if (found){
			cv::Mat tmp_img = crop_img.clone();
			if (m_pLogger) {
				stringstream buff;
				buff << m_imgId << m_dtype_str << "chessboard corners:\nx\ty\n";
				for (auto&p : pointbuf) {
					buff << p.x+x0 << ", " << p.y+y0 << "\n";
				}
				m_pLogger->INFO(buff.str());
			}

			cv::drawChessboardCorners(tmp_img, cv::Size(17, 18), cv::Mat(pointbuf), found);
			if (m_ppImgSaver && *m_ppImgSaver) {
				(*m_ppImgSaver)->saveImage(tmp_img, m_imgId + "_rst_0");
			}
		}
		else {
			if (m_pLogger) {
				stringstream buff;
				buff << m_imgId << m_dtype_str << "image, NOT found chessboard corners";
				m_pLogger->INFO(buff.str());
			}
		}
		return 0;
	}

	int CChessboard::load_data(
		ImgInfo*imginfo,
		const char* fn) {
		//数据加载功能实现，并生成imageid，保存原始数据到文件
		int rst = 0;
		//generate image id
		if (m_dtype == img_type::tea_grab) {
			m_imgId = getImgId(img_type::tea_grab);
			m_dtype_str = string(" tea_grab_chessboard ");
		}
		else {
			m_imgId = getImgId(img_type::tea_cut);
			m_dtype_str = string(" tea_cut_chessboard ");
		}

		if (imginfo) {
			if (m_pLogger) {
				stringstream buff;
				buff << m_imgId << m_dtype_str << "image, width=" << imginfo->width
					<< "\theight=" << imginfo->height;
				m_pLogger->INFO(buff.str());
			}
			if (!isvalid(imginfo)) {
				if (m_pLogger) {
					m_pLogger->ERRORINFO(m_imgId + m_dtype_str + "input image invalid.");
				}
				throw_msg(m_imgId + " invalid input image");

			}
			m_raw_img = imginfo2mat(imginfo);
		}
		else {
			cv::Mat img = imread(fn, cv::IMREAD_COLOR);
			if (img.empty()) {
				if (m_pLogger) {
					m_pLogger->ERRORINFO(m_imgId + m_dtype_str + "input image invalid：" + string(fn));
				}
				throw_msg(m_imgId + m_dtype_str + "invalid input image: " + string(fn));

			}
			if (m_pLogger) {
				stringstream buff;
				buff << m_imgId << m_dtype_str << "image, width=" << img.cols
					<< "\theight=" << img.rows;
				m_pLogger->INFO(buff.str());
			}

			m_raw_img = img.clone();
		}
		//image saver
		if (m_ppImgSaver && *m_ppImgSaver) {
			(*m_ppImgSaver)->saveImage(m_raw_img, m_imgId);
		}
		return rst;		
	}
}