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#include "SMCalibrationWorker.h"

#include "SMCalibrationParameters.h"

#include <QSettings>

void SMCalibrationWorker::performCalibration(std::vector<SMCalibrationSet> calibrationData){

    // Number of saddle points on calibration pattern

    cv::Size patternSize(10, 9);

    int nSets = calibrationData.size();

    std::vector< std::vector< std::vector<cv::Point2f> > > qc(2);

    // Loop through calibration sets

    for(int i=0; i<nSets; i++){

        SMCalibrationSet SMCalibrationSetI = calibrationData[i];

        if(!SMCalibrationSetI.checked)

            continue;

        // Camera 0

        std::vector<cv::Point2f> qci0;

        // Extract checker corners

        bool success0 = cv::findChessboardCorners(SMCalibrationSetI.frame0, patternSize, qci0, cv::CALIB_CB_ADAPTIVE_THRESH);

        if(success0){

            cv::Mat gray;

            cv::cvtColor(SMCalibrationSetI.frame0, gray, CV_RGB2GRAY);

            cv::cornerSubPix(gray, qci0, cv::Size(5, 5), cv::Size(-1, -1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.001));

            // Draw colored chessboard

            SMCalibrationSetI.frame0Result = SMCalibrationSetI.frame0.clone();

            cv::drawChessboardCorners(SMCalibrationSetI.frame0Result, patternSize, qci0, success0);

        }

        emit newFrameResult(i, 0, success0, SMCalibrationSetI.frame0Result);

        // Camera 1

        std::vector<cv::Point2f> qci1;

        // Extract checker corners

        bool success1 = cv::findChessboardCorners(SMCalibrationSetI.frame1, patternSize, qci1, cv::CALIB_CB_ADAPTIVE_THRESH);

        if(success1){

            cv::Mat gray;

            cv::cvtColor(SMCalibrationSetI.frame1, gray, CV_RGB2GRAY);

            cv::cornerSubPix(gray, qci1, cv::Size(5, 5), cv::Size(-1, -1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.001));

            // Draw colored chessboard

            SMCalibrationSetI.frame1Result = SMCalibrationSetI.frame1.clone();

            cv::drawChessboardCorners(SMCalibrationSetI.frame1Result, patternSize, qci1, success1);

        }

        emit newFrameResult(i, 1, success1, SMCalibrationSetI.frame1Result);

        SMCalibrationSetI.success = success0 && success1;

        // Add to whole set

        if(SMCalibrationSetI.success){

            qc[0].push_back(qci0);

            qc[1].push_back(qci1);

        }

        // Show progress

        emit newSetProcessed(i);

    }

    int nValidSets = qc[0].size();

    if(nValidSets < 2){

        std::cerr << "Not enough valid calibration sequences!" << std::endl;

        emit done();

        return;

    }

    // Generate world object coordinates [mm]

    std::vector<cv::Point3f> Qi;

    for (int h=0; h<patternSize.height; h++)

        for (int w=0; w<patternSize.width; w++)

            Qi.push_back(cv::Point3f(5 * w, 5* h, 0.0)); // 5mm chess field size

    std::vector< std::vector<cv::Point3f> > Q;

    for(int i=0; i<qc[0].size(); i++)

        Q.push_back(Qi);

    // calibrate the cameras

    cv::Size frameSize(calibrationData[0].frame0.cols, calibrationData[0].frame0.rows);

//    cv::Size frameSize(640, 480);

    int flags = 0; //cv::CALIB_FIX_K3 + cv::CALIB_FIX_INTRINSIC;

    std::vector< std::vector<cv::Point2f> > qc0 = qc[0];

    std::vector< std::vector<cv::Point2f> > qc1 = qc[1];

    SMCalibrationParameters cal;

    std::vector<cv::Mat> cam_rvecs0, cam_tvecs0;

    cv::Mat K0, k0;

    cal.cam0_error = cv::calibrateCamera(Q, qc0, frameSize, cal.K0, cal.k0, cam_rvecs0, cam_tvecs0);

    std::vector<cv::Mat> cam_rvecs1, cam_tvecs1;

    cv::Mat K1, k1;

    cal.cam1_error = cv::calibrateCamera(Q, qc1, frameSize, cal.K1, cal.k1, cam_rvecs1, cam_tvecs1);

    // stereo calibration (don't change K0, K1, k0, k1)

    int flags_stereo = flags + cv::CALIB_FIX_INTRINSIC;

    cv::Mat E, F, R1, T1;

    cal.stereo_error = cv::stereoCalibrate(Q, qc[0], qc[1], K0, k0, K1, k1,

                                              frameSize, R1, T1, E, F,

                                              cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 50, DBL_EPSILON),

                                              flags_stereo);

    // Print to std::cout

    cal.print();

    // save to (reentrant qsettings object)

    QSettings settings;

    settings.setValue("calibration", QVariant::fromValue(cal));

    emit done();

}