/*
 * opencv_sjlib.h
 *
 *  Created on: Jul 23, 2012
 *      Author: cpslab1
 */

#ifndef OPENCV_SJLIB_H_
#define OPENCV_SJLIB_H_

#include <stdio.h>
#include <stdlib.h>
#include <fcntl.h>
#include <iostream>
#include <unistd.h>
#include <dirent.h>
#include <sys/types.h>
#include <sys/stat.h>

//#include <proc/readproc.h>


#include "opencv.hpp"
//#include "opencv2/flann/defines.h"

using namespace cv;
using namespace std;

#define IMGwidth 640
#define IMGheight 480



struct CvMats{
	CvMat* mat[10];
	int count;
};

void initialize_opencv_sjlib();
void release_opencv_sjlib();
void final_release_opencv_sjlib();


CvMat* setMatrix(double* mData, int row, int col);
CvMat* setMatrix(char* fileName, int row, int col);
CvMat* setMatrix(char* fileName);
CvMat* setMatrix(CvMat* A);

void   copyMatrix(CvMat* dest, CvMat* src); // dest = src

CvMat* setZerosMatrix(int row, int col);
CvMat* setZerosMatrixWithNoRelease(int row, int col);
CvMat* setOnesMatrix(int row, int col);
CvMat* setRandMatrix(int row, int col);
CvMat* setRandMatrix(CvSize s);
double randn(double mean, double stdev);
void addMatrixWhiteNoise(CvMat* A, double cov);
CvMat* setMatrixWithNoRelease(double* mData, int row, int col);
CvMat* setMatrixWithNoRelease(CvMat* A);
void   setMatrixData(CvMat* A, int row_index, int col_index, double val);
void   setMatrixData(CvMat* A, int vec_index, double val);

double minMatrix(CvMat* A);
double maxMatrix(CvMat* A);
double normMatrix(CvMat* A);
double diffNormMatrix(CvMat* A, CvMat* B);
double getSumMatrix(CvMat* A);

CvMat* inverseMatrix(CvMat* A);
CvMat* pseudoInverseMatrix(CvMat* A);

CvMat* transposeMatrix(CvMat* A);
CvMat* normalizeMatrix(CvMat* A);

CvMat* addMatrix(CvMat* A, CvMat* B);
CvMat* subMatrix(CvMat* A, CvMat* B);
CvMat* multiplyMatrix(CvMat* A, CvMat* B);
CvMat* multiplyMatrixWithNoRelease(CvMat* A, CvMat* B);
CvMat* divideElementWiseMatrix(CvMat* A, CvMat* B);

CvMat* backslashMatrix(CvMat* A, CvMat* B);
CvMat* backslashMatrixWithNoRelease(CvMat* A, CvMat* B);

CvMat* solveLeastSquare(CvMat* Y, CvMat* A);
void solveLeastSquare_example();

// Below two functions replace OpenCV generic functions (original functions have memory leakage problem)
void _cvGetCols( CvMat* src, CvMat* dst, int start_col, int end_col );
void _cvGetRows( CvMat* src, CvMat* dst, int start_row, int end_row );

CvMat* getColumnsMatrix(CvMat* A, int index_start, int index_end);
CvMat* getColumnMatrix(CvMat* A, int index_start_end);
CvMat* getColumnMatrixWithNoRelease(CvMat* A, int index_start_end);

CvMat* getRowsMatrix(CvMat* A, int index_start, int index_end);
CvMat* getRowMatrix(CvMat* A, int index_start_end);

CvMat* cumulateColumnsMatrix(CvMat* col1, CvMat* col2);
CvMat* cumulateColumnsMatrixWithNoRelease(CvMat* col1, CvMat* col2);
CvMat* cumulateColumnsMatrix(CvMat* col1, CvMat* col2, CvMat* col3);
CvMat* cumulateColumnsMatrix(CvMat* col1, CvMat* col2, CvMat* col3, CvMat* col4);

CvMat* cumulateRowsMatrix(CvMat* row1, CvMat* row2);
CvMat* cumulateRowsMatrixWithNoRelease(CvMat* row1, CvMat* row2);
CvMat* cumulateRowsMatrix(CvMat* row1, CvMat* row2, CvMat* row3);
CvMat* cumulateRowsMatrix(CvMat* row1, CvMat* row2, CvMat* row3, CvMat* row4);

void showMatrix(CvMat* A);
void showMatrix(CvMat* A, char* str);
void showMatrix_CV_8UC1(CvMat* A, char* str);

int    getSizeMatrix(CvMat* A, int rowcol);
CvSize getSizeMatrix(CvMat* A);

void showSizeMatrix(CvMat* A);
void showSizeMatrix(CvMat* A, char* str);

void saveMatrix(CvMat* A, char* fileName);
void test_saveMatrix();

CvMat* convert_CV_8UC1_to_CV_64FC1(CvMat* src);
CvMat* convert_CV_8UC1_to_CV_64FC1WithNoRelease(CvMat* src);

// Image related
int getGrayImage(IplImage *img, int i, int j);
IplImage* convertGrayImage(IplImage *img);
IplImage* cropImage(IplImage *img, double xc, double yc, double pw, double ph);
CvMat* cvBinarizeImage(IplImage *srcImage);
CvMat* cvBinarizeImage(IplImage *srcImage, double threshold);

void test_cam();

// Camera Handle
void CaptureImageWithSpaceBtn(int CamNumber);

// LED detecting
int Detect_MSER(IplImage *img, double *xc, double *yc);
int Detect_MSER(IplImage *img, double *xc, double *yc, double *rc);
int Detect_MSCR(IplImage *img,double *xc, double *yc);

void DetectLedPointsInGivenPicture( CvMat* ImageWIthLED, IplImage* refImage , int CAMnum, double *LEDx, double *LEDy, int *LEDnum);
CvPoint DetectLEDsWithDifferentialImageUsingMSER(int NUMBER_OF_CAMERA);
CvPoint DetectLEDsWithDifferentialImageUsingMSER(int camStartIndex, int NUMBER_OF_CAMERA);
void detect_LED_with_MSER_with_filepath(char* filePath);

void accumulate_LED_points(int camStartIndex, int nrCamera);

double ComputeAngle(int NUMBER_OF_CAMERA);
void ImageCapture_Save();


// File related
int removeFiles(char *commonFileName);

// Homography
CvMats HOMO_Decomp(CvMat* H1, double CAM, CvMat *refN);
CvMat* ransacfithomography(CvMat* homo_nx1, CvMat* homo_nx2, double t1);
bool getRandTwith8LedPoints(CvMat* data1, CvMat* data2, CvMat* Final_R, CvMat* Final_T );

// SIFT
void SIFT_example();
void SIFT_match();

#endif /* OPENCV_SJLIB_H_ */