import cv2
import sys
import imutils as im
import numpy as np

from util import bbox_extend, bbox_round, image_crop, to_rect, bbox_add_position, bbox_center
from ocv_corner_tracker import CornerTracker


def refine_corner(src_gray, corners_original: np.array):
	# Set the needed parameters to find the refined corners
	win_size = (5, 5)
	zero_zone = (-1, -1)
	criteria = (cv2.TERM_CRITERIA_EPS + cv2.TermCriteria_COUNT, 40, 0.001)

	# Calculate the refined corner locations
	corners_refined = cv2.cornerSubPix(src_gray, corners_original.copy(), win_size, zero_zone, criteria)

	# Write them down
	for i in range(corners_original.shape[0]):
		print(" -- Original Corner [", i, "] (", corners_original[i, 0, 0], ",", corners_original[i, 0, 1], ")")
		print(" -- Refined Corner  [", i, "] (", corners_refined[i, 0, 0], ",", corners_refined[i, 0, 1], ")")

	return corners_refined


COLOR_TRACKER = (0, 255, 0)
COLOR_TRACKER_EXT = (0, 255, 255)
COLOR_MATCHER = (0, 0, 255)
COLOR_TEMPLATE = (255, 0, 0)
IMG_SCALE_UP = 1
TEMPLATE_MATCH_OVERLAP = 0

#video = cv2.VideoCapture("./data/IMG_1730.MP4")
video = cv2.VideoCapture('./data/spindle_multi_black/%04d.png')

# Exit if video not open
# d.
if not video.isOpened():
	print("Could not open video")
	sys.exit()

# Read first frame.
ok, image = video.read()
if not ok:
	print('Cannot read video file')
	sys.exit()

bb_crop = bbox_extend(cv2.selectROI("Image", image, False), TEMPLATE_MATCH_OVERLAP)
crop = image_crop(image.copy(), bb_crop)

ct_list = []
count = 1
key_wait = -1

while True:
	print(f"Add Corner {count}")
	bb_template = cv2.selectROI("Image", crop, fromCenter=True, showCrosshair=True)
	template = cv2.cvtColor(image_crop(crop.copy(), bb_template), cv2.COLOR_BGR2GRAY)
	ct_list.append(CornerTracker(template, bb_template))
	print(f"Corner {count} added")
	print(f"Press any key to add another corner or ESC to continue")

	k = cv2.waitKey(-1) & 0xff
	if k == 27:
		break
	count += 1

print(f"Added {count} corners")

# Initialize tracker with first frame and bounding box
tracker = cv2.TrackerKCF().create()
tracker.init(image, bb_crop)

while True:
	# Read a new frame
	ok, image = video.read()
	if not ok:
		break

	# Start timer
	timer = cv2.getTickCount()

	# Update tracker
	ok, bb_crop = tracker.update(image)
	crop = image_crop(image.copy(), bb_crop)
	crop = cv2.cvtColor(crop, cv2.COLOR_BGR2GRAY)
	crop = cv2.GaussianBlur(crop, (9, 9), 0)
	image_anno = image.copy()

	if ok:
		corners = []
		for ct in ct_list:
			matcher_bbox_local, matcher = ct.process(crop)
			matcher_top_left_local, matcher_bottom_right_local = to_rect(bbox_round(matcher_bbox_local))

			matcher_bbox = bbox_round(bbox_add_position(matcher_bbox_local, bb_crop))
			matcher_rect = to_rect(matcher_bbox)

			tracker_rect = to_rect(bb_crop)
			template_top_left, template_bottom_right = to_rect(bb_template)

			cv2.rectangle(crop, template_top_left, template_bottom_right, COLOR_TEMPLATE, 1)
			cv2.rectangle(crop, matcher_top_left_local, matcher_bottom_right_local, COLOR_MATCHER, 1)

			cv2.rectangle(image_anno, matcher_rect[0], matcher_rect[1], COLOR_MATCHER, 1)
			cv2.rectangle(image_anno, tracker_rect[0], tracker_rect[1], COLOR_TRACKER, 1)
			matcher_crop = image_crop(image, matcher_bbox)

			# Draw path
			line_to = bbox_center(matcher_bbox)
			corners.append([line_to])
			ct.path_add(line_to)

			for p in ct.path:
				cv2.line(image_anno, bbox_round(p['from']), bbox_round(p['to']), (0, 0, 255), 2)

		# refine corners
		corners_refined = refine_corner(cv2.cvtColor(image, cv2.COLOR_BGR2GRAY), np.array(corners, dtype=np.float32))

		# show refined corners
		for i in range(corners_refined.shape[0]):
			print(" -- Refined Corner [", i, "] (", corners_refined[i, 0, 0], ",", corners_refined[i, 0, 1], ")")
			cv2.circle(image_anno, (int(corners_refined[i, 0, 0]), int(corners_refined[i, 0, 1])), 4, (0, 255, 0))

		cv2.imshow("Crop", crop)
		cv2.imshow("Image", image_anno)

	# Exit if ESC pressed
	k = cv2.waitKey(key_wait) & 0xff
	if k == 27:
		break
	if k == ord(' '):
		if key_wait == -1:
			key_wait = 30
		else:
			key_wait = -1