/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2012 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLGeom/examples/multi-cam-marker-demo.cpp             **
** Module : ICLGeom                                                **
** Authors: Christof Elbrechter                                    **
**                                                                 **
**                                                                 **
** Commercial License                                              **
** ICL can be used commercially, please refer to our website       **
** www.iclcv.org for more details.                                 **
**                                                                 **
** GNU General Public License Usage                                **
** Alternatively, this file may be used under the terms of the     **
** GNU General Public License version 3.0 as published by the      **
** Free Software Foundation and appearing in the file LICENSE.GPL  **
** included in the packaging of this file.  Please review the      **
** following information to ensure the GNU General Public License  **
** version 3.0 requirements will be met:                           **
** http://www.gnu.org/copyleft/gpl.html.                           **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
*********************************************************************/

#include <ICLQuick/Common.h>
#include <ICLMarkers/MultiCamFiducialDetector.h>
#include <ICLGeom/Geom.h>
#include <ICLGeom/ComplexCoordinateFrameSceneObject.h>

GUI gui("hsplit");
GenericGrabber grabber;
MultiCamFiducialDetector fd;
std::vector<SmartPtr<GenericGrabber> > grabbers;
Scene scene;

std::map<int,SceneObject*> cubes;
void updateCube(int id, const Mat &T){
  std::map<int,SceneObject*>::iterator it = cubes.find(id);
  SceneObject *&cube = (it == cubes.end() ? cubes[id] : it->second);
  if(it == cubes.end()){
    static Size ms = pa("-m",2);
    static const float p[] = { 0,0,ms.width/2,ms.width,ms.height,ms.width };
    cube = new SceneObject("cuboid",p);
    cube->setVisible(Primitive::quad,false);
    cube->addChild(new ComplexCoordinateFrameSceneObject);
    Mutex::Locker lock(scene);
    scene.addObject(cube);
  }
  cube->setTransformation(T);
}

void init(){
  int n = pa("-i").n()/2;
  if(pa("-c").n() != n) throw ICLException("camera count and grabber count must be equal");
  grabbers.resize(n);
  for(int i=0;i<n;++i){
    grabbers[i] = new GenericGrabber(*pa("-i",2*i), *pa("-i",2*i) + "=" + *pa("-i",2*i+1));
    grabbers[i]->useDesired(formatGray);
    scene.addCamera(Camera(*pa("-c",i)));
  }
  
  fd.init(pa("-m",0), *pa("-m",1), ParamList("size",*pa("-m",2)), 
          scene.getAllCameras(), !pa("-nosync").as<bool>());
  fd.setConfigurableID("fd");
  
  if(!pa("-nosync").as<bool>()){
    fd.setPropertyValue("thresh.global threshold",4.8);
  }
  gui << "draw3D[@handle=draw@minsize=16x12]" 
      << (GUI("vbox[@maxsize=15x99@minsize=15x1]") 
          << "combo("+fd.getIntermediateImageNames()+")"
          "[@handle=vis@label=visualized image]"
          << "prop(fd)"
          )
      <<"!show";
}


void run(){
  DrawHandle3D draw = gui["draw"];
  draw = fd.getIntermediateImage(gui["vis"]);

  std::vector<ImgBase*> images(grabbers.size());
  for(unsigned int i=0;i<grabbers.size();++i){
    images[i] = const_cast<ImgBase*>(grabbers[i]->grab());
  }
 
  const std::vector<MultiCamFiducial> &fs = fd.detect(images,1);

  for(unsigned int i=0;i<fs.size();++i){
    if(fs[i].isNull()) {
      continue;
    }
    updateCube(fs[i].getID(),fs[i].getPose3D());
  }

  const int camID = fd.getCameraIDFromIntermediteImageName(gui["vis"]);
  
  draw->lock();
  draw->reset3D();
  draw->callback(scene.getGLCallback(camID));
  draw->unlock();
  draw.update();
}

int main(int n, char **args){
  paex("-i","list of inputs in order deviceType1 device1 deviceType2 device2 ...")
  ("-c", "associated list of camera calibratio files (in the same order as -i")
  ("-m", "markers to load (type can be e.g. bch or art, \n"
   "which are the bch-indices/ or artoolkit pattern images\n"
   "(e.g. [0-100]) and size are the real sizes in mm of the markers");
   return ICLApp(n,args,"[m]-input|-i(...) [m]-cameras|-c(...) "
                 "[m]-markers-to-load|-m(type,which,size) "
                 "-do-not-sync-2D-detectors|-nosync",init,run).exec();
}