#include<opencv2/opencv.hpp>
#include <opencv2/highgui/highgui_c.h>
#include<iostream>
#include "tuneParameter.h"
#include "preprocessing.h"
#include "bufferTracker.h"
#include "PnP.h"

using std::cout;
using std::endl;


////暂停 获取ROI处理图像
//cv::Mat rawImages;
//cv::Rect roiRect;
//cv::Mat ROI;
//cv::Point startPoint;
//cv::Point endPoint;
//bool downFlag = false;
//bool upFlag = false;
//
//void MouseEvent(int event, int x, int y, int flags, void* data)
//{
//
//	if (event == cv::EVENT_LBUTTONDOWN)
//	{
//		downFlag = true;
//		startPoint.x = x;
//		startPoint.y = y;
//	}
//
//	if (event == cv::EVENT_LBUTTONUP)
//	{
//		upFlag = true;
//		endPoint.x = x;
//		endPoint.y = y;
//	}
//
//	if (downFlag == true && upFlag == false)
//	{
//		cv::Point tempPoint;
//		tempPoint.x = x;
//		tempPoint.y = y;
//
//		cv::Mat tempImage = rawImages.clone();
//		rectangle(tempImage, startPoint, tempPoint, cv::Scalar(255, 0, 0), 2, 3, 0);
//		imshow("ROIing", tempImage);
//	}  
//
//	if (downFlag == true && upFlag == true)
//	{
//
//		roiRect.width = abs(startPoint.x - endPoint.x);
//		roiRect.height = abs(startPoint.y - endPoint.y);
//		roiRect.x = min(startPoint.x, endPoint.x);
//		roiRect.y = min(startPoint.y, endPoint.y);
//		cout << roiRect.width << " " << roiRect.height << " " << roiRect.x << " " << roiRect.y << endl;
//		cv::Mat ROI(rawImages, roiRect);
//		imshow("ROI", ROI);
//		downFlag = false;
//		upFlag = false;
//	}
//	cv::waitKey(0);
//
//}

/// <summary>
/// 主函数
/// </summary>
/// <returns></returns>
int main() {
	std::basic_string<char> path = "./vedio/blue.mp4";
	cv::VideoCapture cap(path);
	bool paused = 0;

	//相机参数
	cv::Mat cameraMatrix;
	cv::Mat distCoeffs;

	cv::FileStorage fs("./out_camera_data.xml", cv::FileStorage::READ);
	fs["camera_matrix"] >> cameraMatrix;
	fs["distortion_coefficients"] >> distCoeffs;

	
	if (cap.isOpened()) {
		cv::Rect roiRect;
		cv::Mat rawImages, ROI, mask;
		PreviousFrameInfo previousFrameInfo;
		std::chrono::high_resolution_clock::time_point previousFrameEndTime;
		

		while (true) {

			//判断上一帧的相关信息
			if (previousFrameInfo.firstFrame) {
				previousFrameEndTime = std::chrono::high_resolution_clock::now();
				previousFrameInfo.firstFrame = false;
			}
			else {
				auto t = std::chrono::high_resolution_clock::now();
				previousFrameInfo.elapsedTime = std::chrono::high_resolution_clock::now() - previousFrameEndTime;
				previousFrameEndTime = t;
			}

			vector<cv::Point2f> targetPoints;
			
			//进行视频资源的读取
			if (!paused) {
				cap >> rawImages;
				//暂停视频
				if (rawImages.empty())
					break;
				//截取部分区域进行处理
				roiRect.width = 605;
				roiRect.height = 500;
				/*roiRect.x = 154;
				roiRect.y = 176;*/
				roiRect.x = 125;
				roiRect.y = 80;
				cv::Mat ROI(rawImages, roiRect);

				//图像预处理
				mask = preprocessing(ROI);
				//寻找轮廓、确定击打点
				targetPoints = findTarget(ROI, previousFrameInfo, mask);
				//预测  等待时机...啊...耐心
				
				//位姿解算
				PNP(ROI, targetPoints, cameraMatrix, distCoeffs);

				cv::namedWindow("rawImages", 0);
				//resizeWindow("rawImages", 741, 620);
				imshow("rawImages", ROI);
				cv::waitKey(1);
			}
			// 按q退出循环、按空格暂停视频进行调节
			char key = cv::waitKey(1);
			if (key == 'q')
				break;
			else if (key == ' ') {
				paused = !paused;
				////截取感兴趣的区域
				//namedWindow("ROIing");
				//resizeWindow("ROIing", 741, 620);
				//imshow("ROIing", rawImages);
				//setMouseCallback("ROIing", MouseEvent, 0);
				//waitKey(0);
				
				////截取部分区域进行处理
				//roiRect.width = 605;
				//roiRect.height = 500;
				///*roiRect.x = 154;
				//roiRect.y = 176;*/
				//roiRect.x = 125;
				//roiRect.y = 80;
				//Mat ROI(rawImages, roiRect);
				////调参
				//tuneParameter(ROI);

			}
				
		}

		cout << "视频图像处理完成" << endl;
		//释放视频资源
		cap.release();
	}
	else 
		cout << "视频图像读取不成功" << endl;

	return 0;
	
	
	
	
}