/*
 *   Pure Data Packet module.
 *   Copyright (c) by Tom Schouten <pdp@zzz.kotnet.org>
 *
 *   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 program; if not, write to the Free Software
 *   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
 *
 */

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <dirent.h>
#include <limits.h>
#include <dlfcn.h>
#include <ctype.h>

#include "pdp.h"

#ifndef _EiC
#include "cv.h"
#endif


const int MAX_COUNT = 500;

typedef struct pdp_opencv_lk_struct
{
    t_object x_obj;
    t_float x_f;

    t_outlet *x_outlet0;
    int x_packet0;
    int x_packet1;
    int x_dropped;
    int x_queue_id;

    int x_width;
    int x_height;
    int x_size;

    int x_infosok; 

    int win_size;

    // The output and temporary images
	IplImage *image, *grey, *prev_grey, *pyramid, *prev_pyramid, *swap_temp;
	
	CvPoint2D32f* points[2], *swap_points;
	char* status;
	int count;
	int need_to_init;
	int night_mode;
	int flags;
	int add_remove_pt;
	CvPoint pt;

    
} t_pdp_opencv_lk;



static void pdp_opencv_lk_process_rgb(t_pdp_opencv_lk *x)
{
    t_pdp     *header = pdp_packet_header(x->x_packet0);
    short int *data   = (short int *)pdp_packet_data(x->x_packet0);
    t_pdp     *newheader = pdp_packet_header(x->x_packet1);
    short int *newdata = (short int *)pdp_packet_data(x->x_packet1); 
    int i,j,k;
      

    if ((x->x_width != (t_int)header->info.image.width) || 
        (x->x_height != (t_int)header->info.image.height) || (!x->image)) 
    {

    	post("pdp_opencv_lk :: resizing plugins");
	
    	//cv_freeplugins(x);

    	x->x_width = header->info.image.width;
    	x->x_height = header->info.image.height;
    	x->x_size = x->x_width*x->x_height;
    
    	//Destroy cv_images
    	cvReleaseImage( &x->image );
    	cvReleaseImage( &x->grey );
    	cvReleaseImage( &x->prev_grey );
    	cvReleaseImage( &x->pyramid );
    	cvReleaseImage( &x->prev_pyramid );
   
	//Create cv_images 
    	x->image = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 3 );
    	x->grey = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 );
    	x->prev_grey = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 );
    	x->pyramid = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 );
    	x->prev_pyramid = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 );
            x->points[0] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(x->points[0][0]));
            x->points[1] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(x->points[0][0]));
            x->status = (char*)cvAlloc(MAX_COUNT);
    }
    
    newheader->info.image.encoding = header->info.image.encoding;
    newheader->info.image.width = x->x_width;
    newheader->info.image.height = x->x_height;

    memcpy( newdata, data, x->x_size*3 );
    
    
    // FEM UNA COPIA DEL PACKET A x->grey->imageData ... http://www.cs.iit.edu/~agam/cs512/lect-notes/opencv-intro/opencv-intro.html aqui veiem la estructura de IplImage
    memcpy( x->image->imageData, data, x->x_size*3 );
        
        cvCvtColor( x->image, x->grey, CV_BGR2GRAY );

        if( x->night_mode )
            cvZero( x->image );
        
        if( x->need_to_init )
        {
            /* automatic initialization */
            IplImage* eig = cvCreateImage( cvSize(x->grey->width,x->grey->height), 32, 1 );
            IplImage* temp = cvCreateImage( cvSize(x->grey->width,x->grey->height), 32, 1 );
            double quality = 0.01;
            double min_distance = 10;

            x->count = MAX_COUNT;
            cvGoodFeaturesToTrack( x->grey, eig, temp, x->points[1], &x->count,
                                   quality, min_distance, 0, 3, 0, 0.04 );
            cvFindCornerSubPix( x->grey, x->points[1], x->count,
                cvSize(x->win_size,x->win_size), cvSize(-1,-1),
                cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03));
            cvReleaseImage( &eig );
            cvReleaseImage( &temp );

            x->add_remove_pt = 0;
        }
        else if( x->count > 0 )
        {
            cvCalcOpticalFlowPyrLK( x->prev_grey, x->grey, x->prev_pyramid, x->pyramid,
                x->points[0], x->points[1], x->count, cvSize(x->win_size,x->win_size), 3, x->status, 0,
                cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03), x->flags );
            x->flags |= CV_LKFLOW_PYR_A_READY;
            for( i = k = 0; i < x->count; i++ )
            {
                if( x->add_remove_pt )
                {
                    double dx = x->pt.x - x->points[1][i].x;
                    double dy = x->pt.y - x->points[1][i].y;

                    if( dx*dx + dy*dy <= 25 )
                    {
                        x->add_remove_pt = 0;
                        continue;
                    }
                }
                
                if( !x->status[i] )
                    continue;
                
                x->points[1][k++] = x->points[1][i];
                cvCircle( x->image, cvPointFrom32f(x->points[1][i]), 3, CV_RGB(0,255,0), -1, 8,0);
            }
            x->count = k;
        }

        if( x->add_remove_pt && x->count < MAX_COUNT )
        {
            x->points[1][x->count++] = cvPointTo32f(x->pt);
            cvFindCornerSubPix( x->grey, x->points[1] + x->count - 1, 1,
                cvSize(x->win_size,x->win_size), cvSize(-1,-1),
                cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03));
            x->add_remove_pt = 0;
        }

        CV_SWAP( x->prev_grey, x->grey, x->swap_temp );
        CV_SWAP( x->prev_pyramid, x->pyramid, x->swap_temp );
        CV_SWAP( x->points[0], x->points[1], x->swap_points );
        x->need_to_init = 0;

    memcpy( newdata, x->image->imageData, x->x_size*3 );

 
    return;
}


static void pdp_opencv_lk_thresh(t_pdp_opencv_lk *x, t_floatarg f)
{
	if ((f==1)||(f==3)||(f==5)||(f==7)) x->win_size = (int)f;
}

static void pdp_opencv_lk_sendpacket(t_pdp_opencv_lk *x)
{
    /* release the packet */
    pdp_packet_mark_unused(x->x_packet0);
    x->x_packet0 = -1;

    /* unregister and propagate if valid dest packet */
    pdp_packet_pass_if_valid(x->x_outlet0, &x->x_packet1);
}

static void pdp_opencv_lk_process(t_pdp_opencv_lk *x)
{
   int encoding;
   t_pdp *header = 0;
   char *parname;
   unsigned pi;
   int partype;
   float pardefault;
   t_atom plist[2];
   t_atom tlist[2];
   t_atom vlist[2];

   /* check if image data packets are compatible */
   if ( (header = pdp_packet_header(x->x_packet0))
	&& (PDP_BITMAP == header->type)){
    
	/* pdp_opencv_lk_process inputs and write into active inlet */
	switch(pdp_packet_header(x->x_packet0)->info.image.encoding){

	case PDP_BITMAP_RGB:
            x->x_packet1 = pdp_packet_clone_rw(x->x_packet0);
            pdp_queue_add(x, pdp_opencv_lk_process_rgb, pdp_opencv_lk_sendpacket, &x->x_queue_id);
	    break;

	default:
	    /* don't know the type, so dont pdp_opencv_lk_process */
	    break;
	    
	}
    }

}

static void pdp_opencv_lk_input_0(t_pdp_opencv_lk *x, t_symbol *s, t_floatarg f)
{
    /* if this is a register_ro message or register_rw message, register with packet factory */

    if (s == gensym("register_rw")) 
       x->x_dropped = pdp_packet_convert_ro_or_drop(&x->x_packet0, (int)f, pdp_gensym("bitmap/rgb/*") );

    if ((s == gensym("process")) && (-1 != x->x_packet0) && (!x->x_dropped))
    {
        /* add the process method and callback to the process queue */
        pdp_opencv_lk_process(x);
    }
}

static void pdp_opencv_lk_free(t_pdp_opencv_lk *x)
{
  int i;

    pdp_queue_finish(x->x_queue_id);
    pdp_packet_mark_unused(x->x_packet0);
    //cv_freeplugins(x);
    
    	//Destroy cv_images
    	cvReleaseImage( &x->image );
    	cvReleaseImage( &x->grey );
    	cvReleaseImage( &x->prev_grey );
    	cvReleaseImage( &x->pyramid );
    	cvReleaseImage( &x->prev_pyramid );
}

t_class *pdp_opencv_lk_class;


void *pdp_opencv_lk_new(t_floatarg f)
{
    int i;

    t_pdp_opencv_lk *x = (t_pdp_opencv_lk *)pd_new(pdp_opencv_lk_class);
    inlet_new(&x->x_obj, &x->x_obj.ob_pd, &s_float, gensym("win_size"));

    x->x_outlet0 = outlet_new(&x->x_obj, &s_anything); 

    x->x_packet0 = -1;
    x->x_packet1 = -1;
    x->x_queue_id = -1;

    x->x_width  = 320;
    x->x_height = 240;
    x->x_size   = x->x_width * x->x_height;

    x->x_infosok = 0;

    x->win_size = 10;
	
	IplImage *image = 0, *grey = 0, *prev_grey = 0, *pyramid = 0, *prev_pyramid = 0, *swap_temp;

	x->points [0] = 0;
	x->points [1] = 0;
	x->status = 0;
	x->count = 0;
	x->need_to_init = 1;
	x->night_mode = 0;
	x->flags = 0;
	x->add_remove_pt = 0;

    
    x->image = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 3 );
    x->grey = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 );
    x->prev_grey = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 );
    x->pyramid = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 );
    x->prev_pyramid = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 );
            x->points[0] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(x->points[0][0]));
            x->points[1] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(x->points[0][0]));
            x->status = (char*)cvAlloc(MAX_COUNT);


    return (void *)x;
}


#ifdef __cplusplus
extern "C"
{
#endif


void pdp_opencv_lk_setup(void)
{

    post( "		pdp_opencv_lk");
    pdp_opencv_lk_class = class_new(gensym("pdp_opencv_lk"), (t_newmethod)pdp_opencv_lk_new,
    	(t_method)pdp_opencv_lk_free, sizeof(t_pdp_opencv_lk), 0, A_DEFFLOAT, A_NULL);

    class_addmethod(pdp_opencv_lk_class, (t_method)pdp_opencv_lk_input_0, gensym("pdp"),  A_SYMBOL, A_DEFFLOAT, A_NULL);
    class_addmethod(pdp_opencv_lk_class, (t_method)pdp_opencv_lk_thresh, gensym("win_size"),  A_FLOAT, A_NULL );   

}

#ifdef __cplusplus
}
#endif