//  created:    2015/10/07
//  filename:   HoughLines.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    HoughLines
//
//
/*********************************************************************/

#include "HoughLines.h"
#include <cvimage.h>
#include <cvmatrix.h>
#include <Layout.h>
#include <GroupBox.h>
#include <SpinBox.h>
#include <DoubleSpinBox.h>
#include <typeinfo>

#define MAX_LINES 100

using std::string;
using namespace flair::core;
using namespace flair::gui;

namespace flair { namespace filter {

HoughLines::HoughLines(const IODevice* parent,const LayoutPosition* position,string name) : IODevice(parent,name) {
    GroupBox* reglages_groupbox=new GroupBox(position,name);
    fullRhoStep=new SpinBox(reglages_groupbox->NewRow(),"full rho step:","pixels",0,255,1,1);
    fullThetaStep=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"full theta step:","degrees",0,90,1,1);
    trackingRhoStep=new SpinBox(reglages_groupbox->NewRow(),"tracking rho step:","pixels",0,255,1,1);
    trackingThetaStep=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"tracking theta step:","degrees",0,90,1,1);
    trackingDeltaTheta=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"tracking delta theta:","degrees",0,90,1,1);
    nbPoints=new SpinBox(reglages_groupbox->NewRow(),"nb points:",0,10000,10,100);

    isTracking=false;
    lostLine=false;
    initLine=false;
    linesStorage = cvCreateMat(MAX_LINES, 1, CV_32FC2);

    //init output matrix of same size as init
    cvmatrix_descriptor* desc=new cvmatrix_descriptor(4,1);
    desc->SetElementName(0,0,"distance");
    desc->SetElementName(1,0,"orientation rad");
    desc->SetElementName(2,0,"orientation deg");
    desc->SetElementName(3,0,"line_detected");
    output=new cvmatrix(this,desc,floatType,name);
    delete desc;

    try{
        cvimage::Type const &imageType=dynamic_cast<cvimage::Type const &>(parent->GetOutputDataType());
        if(imageType.GetFormat()!=cvimage::Type::Format::Gray) {
            Err("input image is not gray\n");
            return;
        }
    } catch(std::bad_cast& bc) {
        Err("io type mismatch\n");
        return;
    }
    
    SetIsReady(true);
}

HoughLines::~HoughLines(void) {
    cvReleaseMat(&linesStorage);
}

void HoughLines::UpdateFrom(const io_data *data) {
 
}

bool HoughLines::isLineDetected() const {
    if(output->Value(3,0)==1) {
        return true;
    } else {
        return false;
    }
}

float HoughLines::GetOrientation(void) const {
    return output->Value(1,0);
}

float HoughLines::GetDistance(void) const {
    return output->Value(0,0);
}

cvmatrix *HoughLines::Output(void) const {
    return output;
}

} // end namespace filter
} // end namespace flair