/* Image Processing and Recognition Module for the IUPGLCAP application. */
/* It should not contain interface code, neither OpenGL nor IUP.         */

#ifdef WIN32            
#include <windows.h>    /* necessary because of the Microsoft OpenGL headers dependency */
#endif

#include <stdio.h>
#include <stdlib.h>

#include <GL/gl.h>
//#include <GL/glu.h>

#include "ARProcess.h"
#include "find_edges.h"
#include "Algorithms.h"

#include <im.h>
#include <im_capture.h>
#include <im_image.h>
#include <im_convert.h>
#include <im_process.h>
#include <im_format_avi.h>

unsigned char* rgbImage[5];
unsigned char* lumImage[5];
int width, height;
int xs[4];
int ys[4];

void arInit(int w, int h)
{
  int i;

  width = w;
  height = h;

  for(i=1; i<5; i++)
    rgbImage[i] = (unsigned char*)malloc(3*w*h*sizeof(unsigned char));

  for(i=0; i<5; i++)
    lumImage[i] = (unsigned char*)malloc(w*h*sizeof(unsigned char));

  veInit();
}

__inline void drawPixel(unsigned char* img, int width, int height, int x, int y, unsigned char color)
{
  int index = 3*(y*width + x);
  img[index  ] = color;
  img[index+1] = 0;
  img[index+2] = 0;
}

__inline void drawPoint(unsigned char* img, int width, int height, int x, int y, unsigned char color)
{
  drawPixel(img, width, height, x, y, color);
  if(x>0) drawPixel(img, width, height, x-1, y, color);
  if(x<width-1) drawPixel(img, width, height, x+1, y, color);
  if(y>0) drawPixel(img, width, height, x, y-1, color);
  if(y<height-1) drawPixel(img, width, height, x, y+1, color);

  if((x>0)&&(y>0)) drawPixel(img, width, height, x-1, y-1, color);
  if(x<width-1) drawPixel(img, width, height, x+1, y+1, color);
  if(y>0) drawPixel(img, width, height, x+1, y-1, color);
  if(y<height-1) drawPixel(img, width, height, x-1, y+1, color);
}

void arFrameProcess(unsigned char *rgb, int *flags, double angle, double value)
{
  int i;
  int xs[8];
  int ys[8];

//  findPattern(xs, ys, rgb, width, height);
//  return;

  rgbImage[0] = rgb;
  gaussiano2(rgbImage[0], rgbImage[1], width, height);
  canny(rgbImage[1], lumImage[0], lumImage[1], width, height);
  dilatation(lumImage[0], lumImage[1], width, height);
  erosion(lumImage[1], lumImage[2], width, height);
  detectCycles(lumImage[2], width, height);

  lum2RGB(lumImage[0], rgbImage[2], width, height);

  if(detectCorners(lumImage[2], width, height, xs, ys))
  {
	for(i=0; i<4; i++)
	{
	  drawPoint(rgbImage[2], width, height, xs[i], ys[i], 255);
	}
  }

  if(detectCorners(lumImage[2], width, height, xs, ys))
  {
	for(i=0; i<4; i++)
	{
	  drawPoint(rgbImage[2], width, height, xs[i], ys[i], 255);
	}
  }
}

//  glDrawPixels(width, height, GL_RGB, GL_UNSIGNED_BYTE, app_data->gl_data);
//  glDrawPixels(width, height, GL_LUMINANCE, GL_UNSIGNED_BYTE, app_data->image->data[0]);

void arRepaintRightCanvas(void)
{
  glDrawPixels(width, height, GL_RGB, GL_UNSIGNED_BYTE, rgbImage[2]);
//  glDrawPixels(width, height, GL_LUMINANCE, GL_UNSIGNED_BYTE, lumImage[2]);
}

void arRepaintLeftCanvas(void)
{
  glDrawPixels(width, height, GL_RGB, GL_UNSIGNED_BYTE, rgbImage[0]);
}

void arEnd(void)
{
  int i;

  for(i=1; i<5; i++)
    free(rgbImage[i]);

  for(i=0; i<5; i++)
    free(lumImage[i]);

  veFinish();
}