/*
 * Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 */

#include "find_object/MainWindow.h"
#include "find_object/Camera.h"
#include "find_object/Settings.h"
#include "find_object/TcpServer.h"
#include "find_object/FindObject.h"
#include "find_object/utilite/ULogger.h"
#include "find_object/ObjWidget.h"
#include "find_object/QtOpenCV.h"

#include "AddObjectDialog.h"
#include "ui_mainWindow.h"
#include "KeypointItem.h"
#include "RectItem.h"
#include "ParametersToolBox.h"
#include "AboutDialog.h"
#include "rtabmap/PdfPlot.h"
#include "Vocabulary.h"
#include "ObjSignature.h"

#include <iostream>
#include <stdio.h>

#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/gpu/gpu.hpp"

#include <QtCore/QTextStream>
#include <QtCore/QFile>
#include <QtCore/QBuffer>
#include <QtCore/QThread>

#include <QtGui/QFileDialog>
#include <QtGui/QMessageBox>
#include <QtGui/QGraphicsScene>
#include <QtGui/QGraphicsRectItem>
#include <QtGui/QSpinBox>
#include <QtGui/QStatusBar>
#include <QtGui/QProgressDialog>
#include <QtGui/QCloseEvent>
#include <QtGui/QCheckBox>
#include <QtGui/QScrollBar>
#include <QtGui/QInputDialog>

#include "utilite/UDirectory.h"

// Camera ownership transferred
MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * parent) :
	QMainWindow(parent),
	camera_(camera),
	findObject_(findObject),
	likelihoodCurve_(0),
	inliersCurve_(0),
	lowestRefreshRate_(99),
	objectsModified_(false),
	tcpServer_(0)
{
	Q_ASSERT(findObject_ != 0);

	ui_ = new Ui_mainWindow();
	ui_->setupUi(this);
	aboutDialog_ = new AboutDialog(this);
	this->setStatusBar(new QStatusBar());

	likelihoodCurve_ = new rtabmap::PdfPlotCurve("Likelihood", &imagesMap_, this);
	inliersCurve_ = new rtabmap::PdfPlotCurve("Inliers", &imagesMap_, this);
	likelihoodCurve_->setPen(QPen(Qt::blue));
	inliersCurve_->setPen(QPen(Qt::red));
	ui_->likelihoodPlot->addCurve(likelihoodCurve_, false);
	ui_->likelihoodPlot->addCurve(inliersCurve_, false);
	ui_->likelihoodPlot->setGraphicsView(true);

	ui_->dockWidget_statistics->setVisible(false);
	ui_->dockWidget_parameters->setVisible(false);
	ui_->dockWidget_plot->setVisible(false);
	ui_->widget_controls->setVisible(false);

	QByteArray geometry;
	QByteArray state;
	Settings::loadWindowSettings(geometry, state);
	this->restoreGeometry(geometry);
	this->restoreState(state);
	lastObjectsUpdateParameters_ = Settings::getParameters();

	ui_->toolBox->setupUi();

	if(!camera_)
	{
		camera_ = new Camera(this);
	}
	else
	{
		camera_->setParent(this);
		ui_->toolBox->getParameterWidget(Settings::kCamera_1deviceId())->setEnabled(false);
		ui_->toolBox->getParameterWidget(Settings::kCamera_2imageWidth())->setEnabled(false);
		ui_->toolBox->getParameterWidget(Settings::kCamera_3imageHeight())->setEnabled(false);
		ui_->toolBox->getParameterWidget(Settings::kCamera_5mediaPath())->setEnabled(false);
		ui_->toolBox->getParameterWidget(Settings::kCamera_6useTcpCamera())->setEnabled(false);
		ui_->toolBox->getParameterWidget(Settings::kCamera_8port())->setEnabled(false);
		ui_->toolBox->getParameterWidget(Settings::kCamera_9queueSize())->setEnabled(false);
		ui_->actionCamera_from_video_file->setVisible(false);
		ui_->actionCamera_from_TCP_IP->setVisible(false);
		ui_->actionCamera_from_directory_of_images->setVisible(false);
		ui_->actionLoad_scene_from_file->setVisible(false);
	}

	if(cv::gpu::getCudaEnabledDeviceCount() == 0)
	{
		ui_->toolBox->updateParameter(Settings::kFeature2D_SURF_gpu());
		ui_->toolBox->updateParameter(Settings::kFeature2D_Fast_gpu());
		ui_->toolBox->updateParameter(Settings::kFeature2D_ORB_gpu());
		ui_->toolBox->getParameterWidget(Settings::kFeature2D_SURF_gpu())->setEnabled(false);
		ui_->toolBox->getParameterWidget(Settings::kFeature2D_SURF_keypointsRatio())->setEnabled(false);
		ui_->toolBox->getParameterWidget(Settings::kFeature2D_Fast_gpu())->setEnabled(false);
		ui_->toolBox->getParameterWidget(Settings::kFeature2D_Fast_keypointsRatio())->setEnabled(false);
		ui_->toolBox->getParameterWidget(Settings::kFeature2D_ORB_gpu())->setEnabled(false);
	}

	connect((QDoubleSpinBox*)ui_->toolBox->getParameterWidget(Settings::kCamera_4imageRate()),
			SIGNAL(editingFinished()),
			camera_,
			SLOT(updateImageRate()));
	ui_->menuView->addAction(ui_->dockWidget_statistics->toggleViewAction());
	ui_->menuView->addAction(ui_->dockWidget_parameters->toggleViewAction());
	ui_->menuView->addAction(ui_->dockWidget_objects->toggleViewAction());
	ui_->menuView->addAction(ui_->dockWidget_plot->toggleViewAction());
	connect(ui_->toolBox, SIGNAL(parametersChanged(const QStringList &)), this, SLOT(notifyParametersChanged(const QStringList &)));

	ui_->imageView_source->setGraphicsViewMode(false);
	ui_->imageView_source->setTextLabel(tr("Press \"space\" to start the camera..."));
	ui_->imageView_source->setMirrorView(Settings::getGeneral_mirrorView());
	connect((QCheckBox*)ui_->toolBox->getParameterWidget(Settings::kGeneral_mirrorView()),
				SIGNAL(stateChanged(int)),
				this,
				SLOT(updateMirrorView()));

	ui_->widget_controls->setVisible(Settings::getGeneral_controlsShown());
	connect((QCheckBox*)ui_->toolBox->getParameterWidget(Settings::kGeneral_controlsShown()),
				SIGNAL(stateChanged(int)),
				this,
				SLOT(showHideControls()));

	//buttons
	connect(ui_->pushButton_restoreDefaults, SIGNAL(clicked()), ui_->toolBox, SLOT(resetCurrentPage()));
	connect(ui_->pushButton_updateObjects, SIGNAL(clicked()), this, SLOT(updateObjects()));
	connect(ui_->horizontalSlider_objectsSize, SIGNAL(valueChanged(int)), this, SLOT(updateObjectsSize()));

	ui_->actionStop_camera->setEnabled(false);
	ui_->actionPause_camera->setEnabled(false);
	ui_->actionSave_objects->setEnabled(false);

	// Actions
	connect(ui_->actionAdd_object_from_scene, SIGNAL(triggered()), this, SLOT(addObjectFromScene()));
	connect(ui_->actionAdd_objects_from_files, SIGNAL(triggered()), this, SLOT(addObjectsFromFiles()));
	connect(ui_->actionLoad_scene_from_file, SIGNAL(triggered()), this, SLOT(loadSceneFromFile()));
	connect(ui_->actionStart_camera, SIGNAL(triggered()), this, SLOT(startProcessing()));
	connect(ui_->actionStop_camera, SIGNAL(triggered()), this, SLOT(stopProcessing()));
	connect(ui_->actionPause_camera, SIGNAL(triggered()), this, SLOT(pauseProcessing()));
	connect(ui_->actionExit, SIGNAL(triggered()), this, SLOT(close()));
	connect(ui_->actionSave_objects, SIGNAL(triggered()), this, SLOT(saveObjects()));
	connect(ui_->actionLoad_objects, SIGNAL(triggered()), this, SLOT(loadObjects()));
	connect(ui_->actionCamera_from_video_file, SIGNAL(triggered()), this, SLOT(setupCameraFromVideoFile()));
	connect(ui_->actionCamera_from_directory_of_images, SIGNAL(triggered()), this, SLOT(setupCameraFromImagesDirectory()));
	connect(ui_->actionCamera_from_TCP_IP, SIGNAL(triggered()), this, SLOT(setupCameraFromTcpIp()));
	connect(ui_->actionAbout, SIGNAL(triggered()), aboutDialog_ , SLOT(exec()));
	connect(ui_->actionRestore_all_default_settings, SIGNAL(triggered()), ui_->toolBox, SLOT(resetAllPages()));
	connect(ui_->actionRemove_all_objects, SIGNAL(triggered()), this, SLOT(removeAllObjects()));
	connect(ui_->actionSave_settings, SIGNAL(triggered()), this, SLOT(saveSettings()));
	connect(ui_->actionLoad_settings, SIGNAL(triggered()), this, SLOT(loadSettings()));

	connect(ui_->pushButton_play, SIGNAL(clicked()), this, SLOT(startProcessing()));
	connect(ui_->pushButton_stop, SIGNAL(clicked()), this, SLOT(stopProcessing()));
	connect(ui_->pushButton_pause, SIGNAL(clicked()), this, SLOT(pauseProcessing()));
	connect(ui_->horizontalSlider_frames, SIGNAL(valueChanged(int)), this, SLOT(moveCameraFrame(int)));
	connect(ui_->horizontalSlider_frames, SIGNAL(valueChanged(int)), ui_->label_frame, SLOT(setNum(int)));
	ui_->pushButton_play->setVisible(true);
	ui_->pushButton_pause->setVisible(false);
	ui_->pushButton_stop->setEnabled(false);
	ui_->horizontalSlider_frames->setEnabled(false);
	ui_->label_frame->setVisible(false);

	ui_->objects_area->addAction(ui_->actionAdd_object_from_scene);
	ui_->objects_area->addAction(ui_->actionAdd_objects_from_files);
	ui_->objects_area->setContextMenuPolicy(Qt::ActionsContextMenu);

	ui_->actionStart_camera->setShortcut(Qt::Key_Space);
	ui_->actionPause_camera->setShortcut(Qt::Key_Space);

	ui_->actionCamera_from_video_file->setChecked(!Settings::getCamera_5mediaPath().isEmpty() && !UDirectory::exists(Settings::getCamera_5mediaPath().toStdString()));
	ui_->actionCamera_from_directory_of_images->setChecked(!Settings::getCamera_5mediaPath().isEmpty() && UDirectory::exists(Settings::getCamera_5mediaPath().toStdString()));
	ui_->actionCamera_from_TCP_IP->setChecked(Settings::getCamera_6useTcpCamera());

	ui_->label_ipAddress->setTextInteractionFlags(Qt::TextSelectableByMouse);
	ui_->label_port->setTextInteractionFlags(Qt::TextSelectableByMouse);
	setupTCPServer();

	if(findObject_->objects().size())
	{
		// show objects already loaded in FindObject
		for(QMap<int, ObjSignature *>::const_iterator iter = findObject_->objects().constBegin();
			iter!=findObject_->objects().constEnd();
			++iter)
		{
			ObjWidget * obj = new ObjWidget(iter.key(), iter.value()->keypoints(), cvtCvMat2QImage(iter.value()->image()));
			objWidgets_.insert(obj->id(), obj);
			this->showObject(obj);
		}
	}


	if(Settings::getGeneral_autoStartCamera())
	{
		// Set 1 msec to see state on the status bar.
		QTimer::singleShot(1, this, SLOT(startProcessing()));
	}
}

MainWindow::~MainWindow()
{
	disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
	camera_->stop();
	qDeleteAll(objWidgets_);
	objWidgets_.clear();
	delete ui_;
	delete findObject_;
}

void MainWindow::closeEvent(QCloseEvent * event)
{
	bool quit = true;
	this->stopProcessing();
	if(objectsModified_ && this->isVisible() && objWidgets_.size())
	{
		int ret = QMessageBox::question(this, tr("Save new objects"), tr("Do you want to save added objects?"), QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel);
		switch(ret)
		{
		case QMessageBox::Yes:
			quit = this->saveObjects();
			break;
		case QMessageBox::Cancel:
			quit = false;
			break;
		case QMessageBox::No:
		default:
			break;
		}
	}
	if(quit)
	{
		Settings::saveWindowSettings(this->saveGeometry(), this->saveState());
		event->accept();
	}
	else
	{
		event->ignore();
	}
}

void MainWindow::setupTCPServer()
{
	if(tcpServer_)
	{
		tcpServer_->close();
		delete tcpServer_;
	}
	tcpServer_ = new TcpServer(Settings::getGeneral_port(), this);
	connect(this, SIGNAL(objectsFound(QMultiMap<int,QPair<QRect,QTransform> >)), tcpServer_, SLOT(publishObjects(QMultiMap<int,QPair<QRect,QTransform> >)));
	ui_->label_ipAddress->setText(tcpServer_->getHostAddress().toString());
	ui_->label_port->setNum(tcpServer_->getPort());
	UINFO("Detection sent on port: %d (IP=%s)", tcpServer_->getPort(), tcpServer_->getHostAddress().toString().toStdString().c_str());
}

void MainWindow::setSourceImageText(const QString & text)
{
	ui_->imageView_source->setTextLabel(text);
}

void MainWindow::loadSettings()
{
	QString path = QFileDialog::getOpenFileName(this, tr("Load settings..."), Settings::workingDirectory(), "*.ini");
	if(!path.isEmpty())
	{
		if(QFileInfo(path).suffix().compare("ini") != 0)
		{
			path.append(".ini");
		}
		loadSettings(path);
	}
}
void MainWindow::saveSettings()
{
	QString path = QFileDialog::getSaveFileName(this, tr("Save settings..."), Settings::workingDirectory(), "*.ini");
	if(!path.isEmpty())
	{
		if(QFileInfo(path).suffix().compare("ini") != 0)
		{
			path.append(".ini");
		}
		saveSettings(path);
	}
}

bool MainWindow::loadSettings(const QString & path)
{
	if(!path.isEmpty() && QFileInfo(path).suffix().compare("ini") == 0)
	{
		QByteArray geometry;
		QByteArray state;
		Settings::loadSettings(path);
		Settings::loadWindowSettings(geometry, state, path);
		this->restoreGeometry(geometry);
		this->restoreState(state);

		//update parameters tool box
		const ParametersMap & parameters = Settings::getParameters();
		for(ParametersMap::const_iterator iter = parameters.begin(); iter!= parameters.constEnd(); ++iter)
		{
			ui_->toolBox->updateParameter(iter.key());
		}

		return true;
	}
	UINFO("Path \"%s\" not valid (should be *.ini)", path.toStdString().c_str());
	return false;
}

bool MainWindow::saveSettings(const QString & path)
{
	if(!path.isEmpty() && QFileInfo(path).suffix().compare("ini") == 0)
	{
		Settings::saveSettings(path);
		Settings::saveWindowSettings(this->saveGeometry(), this->saveState(), path);
		return true;
	}
	UINFO("Path \"%s\" not valid (should be *.ini)", path.toStdString().c_str());
	return false;
}

int MainWindow::loadObjects(const QString & dirPath)
{
	int loadedObjects = 0;
	QString formats = Settings::getGeneral_imageFormats().remove('*').remove('.');
	UDirectory dir(dirPath.toStdString(), formats.toStdString());
	if(dir.isValid())
	{
		const std::list<std::string> & names = dir.getFileNames(); // sorted in natural order
		for(std::list<std::string>::const_iterator iter=names.begin(); iter!=names.end(); ++iter)
		{
			if(this->addObjectFromFile((dirPath.toStdString()+dir.separator()+*iter).c_str()))
			{
				++loadedObjects;
			}
		}
		if(loadedObjects)
		{
			this->updateObjects();
		}
	}
	return loadedObjects;
}

int MainWindow::saveObjects(const QString & dirPath)
{
	int count = 0;
	QDir dir(dirPath);
	if(dir.exists())
	{
		for(QMap<int, ObjWidget*>::iterator iter=objWidgets_.begin(); iter!=objWidgets_.end(); ++iter)
		{
			if(iter.value()->pixmap().save(QString("%1/%2.png").arg(dirPath).arg(iter.key())))
			{
				++count;
			}
			else
			{
				UERROR("Failed to save object %d", iter.key());
			}
		}
		objectsModified_ = false;
	}
	return count;
}

void MainWindow::loadObjects()
{
	QString dirPath = QFileDialog::getExistingDirectory(this, tr("Loading objects... Select a directory."), Settings::workingDirectory());
	if(!dirPath.isEmpty())
	{
		int count = loadObjects(dirPath);
		if(count)
		{
			QMessageBox::information(this, tr("Loading..."), tr("%1 objects loaded from \"%2\".").arg(count).arg(dirPath));
		}
		else
		{
			QMessageBox::information(this, tr("Loading..."), tr("No objects loaded from \"%1\"!").arg(dirPath));
		}
	}
}
bool MainWindow::saveObjects()
{
	QString dirPath = QFileDialog::getExistingDirectory(this, tr("Saving objects... Select a directory."), Settings::workingDirectory());
	if(!dirPath.isEmpty())
	{
		int count = saveObjects(dirPath);
		if(count)
		{
			QMessageBox::information(this, tr("Saving..."), tr("%1 objects saved to \"%2\".").arg(count).arg(dirPath));
		}
		else
		{
			QMessageBox::warning(this, tr("Saving..."), tr("No objects saved to %1!").arg(dirPath));
		}
		return count > 0;
	}
	return false;
}

void MainWindow::removeObject(ObjWidget * object)
{
	if(object)
	{
		objWidgets_.remove(object->id());
		if(objWidgets_.size() == 0)
		{
			ui_->actionSave_objects->setEnabled(false);
		}
		findObject_->removeObject(object->id());
		object->deleteLater();
		if(Settings::getGeneral_autoUpdateObjects())
		{
			this->updateVocabulary();
		}
		if(!camera_->isRunning() && !sceneImage_.empty())
		{
			this->update();
		}
	}
}

void MainWindow::removeAllObjects()
{
	qDeleteAll(objWidgets_);
	objWidgets_.clear();
	ui_->actionSave_objects->setEnabled(false);
	findObject_->removeAllObjects();
	if(!camera_->isRunning() && !sceneImage_.empty())
	{
		this->update();
	}
}

void MainWindow::updateObjectsSize()
{
	for(QMap<int, ObjWidget*>::iterator iter=objWidgets_.begin(); iter!=objWidgets_.end(); ++iter)
	{
		updateObjectSize(iter.value());
	}
}

void MainWindow::updateObjectSize(ObjWidget * obj)
{
	if(obj)
	{
		int value = ui_->horizontalSlider_objectsSize->value();
		if((obj->pixmap().width()*value)/100 > 4 && (obj->pixmap().height()*value)/100 > 4)
		{
			obj->setVisible(true);
			obj->setMinimumSize((obj->pixmap().width()*value)/100, (obj->pixmap().height())*value/100);
		}
		else
		{
			obj->setVisible(false);
		}
	}
}

void MainWindow::updateMirrorView()
{
	bool mirrorView = Settings::getGeneral_mirrorView();
	ui_->imageView_source->setMirrorView(mirrorView);
	for(QMap<int, ObjWidget*>::iterator iter=objWidgets_.begin(); iter!=objWidgets_.end(); ++iter)
	{
		iter.value()->setMirrorView(mirrorView);
	}
}

void MainWindow::showHideControls()
{
	ui_->widget_controls->setVisible(Settings::getGeneral_controlsShown());
}

void MainWindow::addObjectFromScene()
{
	disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
	AddObjectDialog * dialog;
	bool resumeCamera = camera_->isRunning();
	if(camera_->isRunning() || sceneImage_.empty())
	{
		dialog = new AddObjectDialog(camera_, cv::Mat(), ui_->imageView_source->isMirrorView(), this);
	}
	else
	{
		dialog = new AddObjectDialog(0, sceneImage_, ui_->imageView_source->isMirrorView(), this);
	}
	if(dialog->exec() == QDialog::Accepted)
	{
		ObjWidget * obj = 0;
		ObjSignature * signature = 0;
		dialog->retrieveObject(&obj, &signature);
		Q_ASSERT(obj!=0 && signature!=0);
		findObject_->addObject(signature);
		obj->setId(signature->id());
		objWidgets_.insert(obj->id(), obj);
		ui_->actionSave_objects->setEnabled(true);
		showObject(obj);
		QLabel * detectorDescriptorType = qFindChild<QLabel*>(this, QString("%1type").arg(obj->id()));
		detectorDescriptorType->setText(QString("%1/%2").arg(signature->detectorType()).arg(signature->descriptorType()));
		updateVocabulary();
		objectsModified_ = true;
	}
	if(resumeCamera || sceneImage_.empty())
	{
		this->startProcessing();
	}
	else
	{
		connect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)), Qt::UniqueConnection);
		this->update();
	}
	delete dialog;
}

void MainWindow::addObjectsFromFiles()
{
	QStringList fileNames = QFileDialog::getOpenFileNames(this, tr("Add objects..."), Settings::workingDirectory(), tr("Image Files (%1)").arg(Settings::getGeneral_imageFormats()));
	if(fileNames.size())
	{
		for(int i=0; i<fileNames.size(); ++i)
		{
			this->addObjectFromFile(fileNames.at(i));
		}
		objectsModified_ = true;
		updateObjects();
	}
}

bool MainWindow::addObjectFromFile(const QString & filePath)
{
	const ObjSignature * s = findObject_->addObject(filePath);
	if(s)
	{
		ObjWidget * obj = new ObjWidget(s->id(), std::vector<cv::KeyPoint>(), cvtCvMat2QImage(s->image()));
		objWidgets_.insert(obj->id(), obj);
		ui_->actionSave_objects->setEnabled(true);
		this->showObject(obj);
		return true;
	}
	else
	{
		QMessageBox::critical(this, tr("Error adding object"), tr("Failed to add object from \"%1\"").arg(filePath));
		return false;
	}
}

void MainWindow::loadSceneFromFile()
{
	QString fileName = QFileDialog::getOpenFileName(this, tr("Load scene..."), Settings::workingDirectory(), tr("Image Files (%1)").arg(Settings::getGeneral_imageFormats()));
	if(!fileName.isEmpty())
	{
		cv::Mat img = cv::imread(fileName.toStdString().c_str());
		if(!img.empty())
		{
			this->update(img);
			ui_->label_timeRefreshRate->setVisible(false);
		}
	}
}

void MainWindow::setupCameraFromVideoFile()
{
	if(!ui_->actionCamera_from_video_file->isChecked())
	{
		Settings::setCamera_5mediaPath("");
		ui_->toolBox->updateParameter(Settings::kCamera_5mediaPath());
	}
	else
	{
		QString fileName = QFileDialog::getOpenFileName(this, tr("Setup camera from video file..."), Settings::workingDirectory(), tr("Video Files (%1)").arg(Settings::getGeneral_videoFormats()));
		if(!fileName.isEmpty())
		{
			Settings::setCamera_5mediaPath(fileName);
			ui_->toolBox->updateParameter(Settings::kCamera_5mediaPath());
			if(camera_->isRunning())
			{
				this->stopProcessing();
				this->startProcessing();
			}
			Settings::setGeneral_controlsShown(true);
			ui_->toolBox->updateParameter(Settings::kGeneral_controlsShown());
		}
	}
	ui_->actionCamera_from_video_file->setChecked(!Settings::getCamera_5mediaPath().isEmpty());
	ui_->actionCamera_from_directory_of_images->setChecked(false);
	ui_->actionCamera_from_TCP_IP->setChecked(false);
}

void MainWindow::setupCameraFromImagesDirectory()
{
	if(!ui_->actionCamera_from_directory_of_images->isChecked())
	{
		Settings::setCamera_5mediaPath("");
		ui_->toolBox->updateParameter(Settings::kCamera_5mediaPath());
	}
	else
	{
		QString directory = QFileDialog::getExistingDirectory(this, tr("Setup camera from directory of images..."), Settings::workingDirectory());
		if(!directory.isEmpty())
		{
			Settings::setCamera_5mediaPath(directory);
			ui_->toolBox->updateParameter(Settings::kCamera_5mediaPath());
			if(camera_->isRunning())
			{
				this->stopProcessing();
				this->startProcessing();
			}
			Settings::setGeneral_controlsShown(true);
			ui_->toolBox->updateParameter(Settings::kGeneral_controlsShown());
		}
	}
	ui_->actionCamera_from_directory_of_images->setChecked(!Settings::getCamera_5mediaPath().isEmpty());
	ui_->actionCamera_from_video_file->setChecked(false);
	ui_->actionCamera_from_TCP_IP->setChecked(false);
}

void MainWindow::setupCameraFromTcpIp()
{
	if(!ui_->actionCamera_from_TCP_IP->isChecked())
	{
		Settings::setCamera_6useTcpCamera(false);
		ui_->toolBox->updateParameter(Settings::kCamera_6useTcpCamera());
	}
	else
	{
		bool ok;
		int port = QInputDialog::getInteger(this, tr("Server port..."), "Port: ", Settings::getCamera_8port(), 1, USHRT_MAX, 1, &ok);

		if(ok)
		{
			int queue = QInputDialog::getInteger(this, tr("Queue size..."), "Images buffer size (0 means infinite): ", Settings::getCamera_9queueSize(), 0, 2147483647, 1, &ok);
			if(ok)
			{
				Settings::setCamera_6useTcpCamera(true);
				ui_->toolBox->updateParameter(Settings::kCamera_6useTcpCamera());
				Settings::setCamera_8port(port);
				ui_->toolBox->updateParameter(Settings::kCamera_8port());
				Settings::setCamera_9queueSize(queue);
				ui_->toolBox->updateParameter(Settings::kCamera_9queueSize());
				if(camera_->isRunning())
				{
					this->stopProcessing();
				}
				this->startProcessing();
			}
		}
	}
	ui_->actionCamera_from_directory_of_images->setChecked(false);
	ui_->actionCamera_from_video_file->setChecked(false);
	ui_->actionCamera_from_TCP_IP->setChecked(Settings::getCamera_6useTcpCamera());
}

void MainWindow::showObject(ObjWidget * obj)
{
	if(obj)
	{
		obj->setGraphicsViewMode(false);
		obj->setMirrorView(ui_->imageView_source->isMirrorView());
		QList<ObjWidget*> objs = ui_->objects_area->findChildren<ObjWidget*>();
		QVBoxLayout * vLayout = new QVBoxLayout();
		ui_->toolBox->updateParameter(Settings::kGeneral_nextObjID());

		QLabel * title = new QLabel(QString("%1 (%2)").arg(obj->id()).arg(obj->keypoints().size()), this);
		QLabel * detectorDescriptorType = new QLabel(QString("%1/%2").arg("detector").arg("descriptor"), this);
		QLabel * detectedLabel = new QLabel(this);
		title->setObjectName(QString("%1title").arg(obj->id()));
		detectorDescriptorType->setObjectName(QString("%1type").arg(obj->id()));
		detectedLabel->setObjectName(QString("%1detection").arg(obj->id()));
		QHBoxLayout * hLayout = new QHBoxLayout();
		hLayout->addWidget(title);
		hLayout->addStretch(1);
		hLayout->addWidget(detectorDescriptorType);
		hLayout->addStretch(1);
		hLayout->addWidget(detectedLabel);
		vLayout->addLayout(hLayout);
		vLayout->addWidget(obj);
		obj->setDeletable(true);
		connect(obj, SIGNAL(removalTriggered(ObjWidget*)), this, SLOT(removeObject(ObjWidget*)));
		connect(obj, SIGNAL(destroyed(QObject *)), title, SLOT(deleteLater()));
		connect(obj, SIGNAL(destroyed(QObject *)), detectedLabel, SLOT(deleteLater()));
		connect(obj, SIGNAL(destroyed(QObject *)), detectorDescriptorType, SLOT(deleteLater()));
		connect(obj, SIGNAL(destroyed(QObject *)), vLayout, SLOT(deleteLater()));
		ui_->verticalLayout_objects->insertLayout(ui_->verticalLayout_objects->count()-1, vLayout);

		QByteArray ba;
		QBuffer buffer(&ba);
		buffer.open(QIODevice::WriteOnly);
		obj->pixmap().scaledToWidth(128).save(&buffer, "JPEG"); // writes image into JPEG format
		imagesMap_.insert(obj->id(), ba);

		updateObjectSize(obj);
	}
}

void MainWindow::updateObjects()
{
	this->statusBar()->showMessage(tr("Updating %1 objects...").arg(findObject_->objects().size()));
	QApplication::processEvents();

	findObject_->updateObjects();

	updateVocabulary();

	QList<ObjSignature*> signatures = findObject_->objects().values();
	for(int i=0; i<signatures.size(); ++i)
	{
		objWidgets_.value(signatures[i]->id())->setData(signatures[i]->keypoints(), cvtCvMat2QImage(signatures[i]->image()));

		//update object labels
		QLabel * title = qFindChild<QLabel*>(this, QString("%1title").arg(signatures[i]->id()));
		title->setText(QString("%1 (%2)").arg(signatures[i]->id()).arg(QString::number(signatures[i]->keypoints().size())));
		QLabel * detectorDescriptorType = qFindChild<QLabel*>(this, QString("%1type").arg(signatures[i]->id()));
		detectorDescriptorType->setText(QString("%1/%2").arg(signatures[i]->detectorType()).arg(signatures[i]->descriptorType()));
	}

	if(!camera_->isRunning() && !sceneImage_.empty())
	{
		this->update();
	}
	this->statusBar()->clearMessage();
}

void MainWindow::updateVocabulary()
{
	this->statusBar()->showMessage(tr("Updating vocabulary..."));
	QApplication::processEvents();

	QTime time;
	findObject_->updateVocabulary();

	if(findObject_->vocabulary()->size())
	{
		ui_->label_timeIndexing->setNum(time.elapsed());
		ui_->label_vocabularySize->setNum(findObject_->vocabulary()->size());
	}
	lastObjectsUpdateParameters_ = Settings::getParameters();
	this->statusBar()->clearMessage();
}

void MainWindow::startProcessing()
{
	UINFO("Starting camera...");
	bool updateStatusMessage = this->statusBar()->currentMessage().isEmpty();
	if(updateStatusMessage)
	{
		this->statusBar()->showMessage(tr("Starting camera..."));
	}
	if(camera_->start())
	{
		connect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)), Qt::UniqueConnection);
		ui_->actionStop_camera->setEnabled(true);
		ui_->actionPause_camera->setEnabled(true);
		ui_->actionStart_camera->setEnabled(false);
		ui_->actionLoad_scene_from_file->setEnabled(false);
		ui_->actionCamera_from_directory_of_images->setEnabled(false);
		ui_->actionCamera_from_video_file->setEnabled(false);
		ui_->actionCamera_from_TCP_IP->setEnabled(false);
		ui_->label_timeRefreshRate->setVisible(true);

		//update control bar
		ui_->pushButton_play->setVisible(false);
		ui_->pushButton_pause->setVisible(true);
		ui_->pushButton_stop->setEnabled(true);
		int totalFrames = camera_->getTotalFrames();
		if(totalFrames>0)
		{
			ui_->label_frame->setVisible(true);
			ui_->horizontalSlider_frames->setEnabled(true);
			ui_->horizontalSlider_frames->setMaximum(totalFrames-1);
		}

		//update camera port if TCP is used
		ui_->label_port_image->setText("-");
		if(Settings::getCamera_6useTcpCamera() && camera_->getPort())
		{
			ui_->label_port_image->setNum(camera_->getPort());
		}

		if(updateStatusMessage)
		{
			this->statusBar()->showMessage(tr("Camera started."), 2000);
		}
	}
	else
	{
		if(updateStatusMessage)
		{
			this->statusBar()->clearMessage();
		}

		if(Settings::getCamera_6useTcpCamera())
		{
			QMessageBox::critical(this, tr("Camera error"), tr("Camera initialization failed! (with port %1)").arg(Settings::getCamera_8port()));
		}
		else
		{
			QMessageBox::critical(this, tr("Camera error"), tr("Camera initialization failed! (with device %1)").arg(Settings::getCamera_1deviceId()));
		}
	}
}

void MainWindow::stopProcessing()
{
	if(camera_)
	{
		disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
		camera_->stop();
	}
	ui_->actionStop_camera->setEnabled(false);
	ui_->actionPause_camera->setEnabled(false);
	ui_->actionStart_camera->setEnabled(true);
	ui_->actionLoad_scene_from_file->setEnabled(true);
	ui_->actionCamera_from_directory_of_images->setEnabled(true);
	ui_->actionCamera_from_video_file->setEnabled(true);
	ui_->actionCamera_from_TCP_IP->setEnabled(true);
	ui_->pushButton_play->setVisible(true);
	ui_->pushButton_pause->setVisible(false);
	ui_->pushButton_stop->setEnabled(false);
	ui_->horizontalSlider_frames->setEnabled(false);
	ui_->horizontalSlider_frames->setValue(0);
	ui_->label_frame->setVisible(false);
	ui_->label_port_image->setText("-");
}

void MainWindow::pauseProcessing()
{
	ui_->actionStop_camera->setEnabled(true);
	ui_->actionPause_camera->setEnabled(true);
	ui_->actionStart_camera->setEnabled(false);
	if(camera_->isRunning())
	{
		ui_->pushButton_play->setVisible(true);
		ui_->pushButton_pause->setVisible(false);
		camera_->pause();
	}
	else
	{
		ui_->pushButton_play->setVisible(false);
		ui_->pushButton_pause->setVisible(true);
		camera_->start();
	}
}

void MainWindow::moveCameraFrame(int frame)
{
	if(ui_->horizontalSlider_frames->isEnabled())
	{
		camera_->moveToFrame(frame);
		if(!camera_->isRunning())
		{
			camera_->takeImage();
		}
	}
}

void MainWindow::rectHovered(int objId)
{
	if(objId>=0 && Settings::getGeneral_autoScroll())
	{
		QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1title").arg(objId));
		if(label)
		{
			ui_->objects_area->verticalScrollBar()->setValue(label->pos().y());
		}
	}
}

void MainWindow::update(const cv::Mat & image)
{
	if(image.empty())
	{
		UWARN("Camera cannot get more images (maybe the end of stream is reached)...");
		return;
	}

	// reset objects color
	for(QMap<int, ObjWidget*>::iterator iter=objWidgets_.begin(); iter!=objWidgets_.end(); ++iter)
	{
		iter.value()->resetKptsColor();
	}
	if(!image.empty())
	{
		sceneImage_ = image.clone();
	}

	QMultiMap<int,QPair<QRect,QTransform> > objectsDetected;
	if(findObject_->detect(sceneImage_, objectsDetected))
	{
		ui_->label_timeDetection->setNum(findObject_->timeStamps().value(FindObject::kTimeKeypointDetection, 0));
		ui_->label_timeExtraction->setNum(findObject_->timeStamps().value(FindObject::kTimeDescriptorExtraction, 0));
		ui_->imageView_source->setData(findObject_->sceneKeypoints(), cvtCvMat2QImage(sceneImage_));
		ui_->label_timeIndexing->setNum(findObject_->timeStamps().value(FindObject::kTimeIndexing, 0));
		ui_->label_vocabularySize->setNum(findObject_->vocabulary()->size());
		ui_->label_timeMatching->setNum(findObject_->timeStamps().value(FindObject::kTimeMatching, 0));
		ui_->label_timeHomographies->setNum(findObject_->timeStamps().value(FindObject::kTimeHomography, 0));

		// Colorize features matched
		const QMap<int, QMultiMap<int, int> > & matches = findObject_->matches();
		QMap<int, int> scores;
		int maxScoreId = -1;
		int maxScore = 0;
		for(QMap<int, QMultiMap<int, int> >::const_iterator jter=matches.constBegin(); jter!=matches.end();++jter)
		{
			scores.insert(jter.key(), jter.value().size());
			if(maxScoreId == -1 || maxScore < jter.value().size())
			{
				maxScoreId = jter.key();
				maxScore = jter.value().size();
			}

			int id = jter.key();
			QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1detection").arg(id));
			if(!Settings::getHomography_homographyComputed())
			{
				label->setText(QString("%1 matches").arg(jter.value().size()));

				ObjWidget * obj = objWidgets_.value(id);
				Q_ASSERT(obj != 0);

				int nColor = id % 11 + 7;
				QColor color((Qt::GlobalColor)(nColor==Qt::yellow?Qt::gray:nColor));
				for(QMultiMap<int, int>::const_iterator iter = jter.value().constBegin(); iter!= jter.value().constEnd(); ++iter)
				{
					obj->setKptColor(iter.key(), color);
					ui_->imageView_source->setKptColor(iter.value(), color);
				}
			}
			else if(!objectsDetected.contains(id))
			{
				// Homography could not be computed...
				QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1detection").arg(id));
				QMultiMap<int, int> rejectedInliers = findObject_->rejectedInliers().value(id);
				QMultiMap<int, int> rejectedOutliers = findObject_->rejectedOutliers().value(id);
				if(jter.value().size() < Settings::getHomography_minimumInliers())
				{
					label->setText(QString("Too low matches (%1)").arg(jter.value().size()));
				}
				else if(rejectedInliers.size() >= Settings::getHomography_minimumInliers())
				{
					label->setText(QString("Ignored, all inliers (%1 in %2 out)").arg(rejectedInliers.size()).arg(rejectedOutliers.size()));
				}
				else
				{
					label->setText(QString("Too low inliers (%1 in %2 out)").arg(rejectedInliers.size()).arg(rejectedOutliers.size()));
				}

			}
		}

		// Add homography rectangles when homographies are computed
		QMultiMap<int, QMultiMap<int,int> >::const_iterator inliersIter = findObject_->inliers().constBegin();
		QMultiMap<int, QMultiMap<int,int> >::const_iterator outliersIter = findObject_->outliers().constBegin();
		for(QMultiMap<int,QPair<QRect,QTransform> >::iterator iter = objectsDetected.begin();
				iter!=objectsDetected.end() && inliersIter!=findObject_->inliers().constEnd();
				++iter, ++inliersIter)
		{
			int id = iter.key();
			ObjWidget * obj = objWidgets_.value(id);
			Q_ASSERT(obj != 0);

			// COLORIZE (should be done in the GUI thread)
			int nColor = id % 11 + 7;
			QColor color((Qt::GlobalColor)(nColor==Qt::yellow?Qt::gray:nColor));

			QTransform hTransform = iter.value().second;

			QRect rect = obj->pixmap().rect();
			// add rectangle
			QPen rectPen(color);
			rectPen.setWidth(Settings::getHomography_rectBorderWidth());
			RectItem * rectItemScene = new RectItem(id, rect);
			connect(rectItemScene, SIGNAL(hovered(int)), this, SLOT(rectHovered(int)));
			rectItemScene->setPen(rectPen);
			rectItemScene->setTransform(hTransform);
			ui_->imageView_source->addRect(rectItemScene);

			QGraphicsRectItem * rectItemObj = new QGraphicsRectItem(rect);
			rectItemObj->setPen(rectPen);
			obj->addRect(rectItemObj);

			for(QMultiMap<int, int>::const_iterator iter = inliersIter.value().constBegin(); iter!= inliersIter.value().constEnd(); ++iter)
			{
				obj->setKptColor(iter.key(), color);
				ui_->imageView_source->setKptColor(iter.value(), color);
			}

			QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1detection").arg(id));
			if(objectsDetected.count(id) > 1)
			{
				// if a homography is already found, set the objects count
				label->setText(QString("%1 objects found").arg(objectsDetected.count(id)));
			}
			else
			{
				label->setText(QString("%1 in %2 out").arg(inliersIter.value().size()).arg(outliersIter.value().size()));
			}
		}


		//update likelihood plot
		likelihoodCurve_->setData(scores, QMap<int, int>());
		QMap<int, int> inlierScores;
		for(QMap<int, int>::iterator iter=scores.begin(); iter!=scores.end(); ++iter)
		{
			QList<QMultiMap<int, int> > values = findObject_->inliers().values(iter.key());
			int maxValue = 0;
			if(values.size())
			{
				maxValue = values[0].size();
				for(int i=1; i<values.size(); ++i)
				{
					if(maxValue < values[i].size())
					{
						maxValue = values[i].size();
					}
				}
			}
			inlierScores.insert(iter.key(), maxValue);
		}
		inliersCurve_->setData(inlierScores, QMap<int, int>());
		if(ui_->likelihoodPlot->isVisible())
		{
			ui_->likelihoodPlot->update();
		}

		ui_->label_minMatchedDistance->setNum(findObject_->minMatchedDistance());
		ui_->label_maxMatchedDistance->setNum(findObject_->maxMatchedDistance());

		//Scroll objects slider to the best score
		if(maxScoreId>=0 && Settings::getGeneral_autoScroll())
		{
			QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1title").arg(maxScoreId));
			if(label)
			{
				ui_->objects_area->verticalScrollBar()->setValue(label->pos().y());
			}
		}

		// Emit homographies
		if(objectsDetected.size() > 1)
		{
			UINFO("(%s) %d objects detected!",
					QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(),
					(int)objectsDetected.size());
		}
		else if(objectsDetected.size() == 1)
		{
			UINFO("(%s) Object %d detected!",
					QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(),
					(int)objectsDetected.begin().key());
		}
		else if(Settings::getGeneral_sendNoObjDetectedEvents())
		{
			UINFO("(%s) No objects detected.",
					QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str());
		}

		if(objectsDetected.size() > 0 || Settings::getGeneral_sendNoObjDetectedEvents())
		{
			Q_EMIT objectsFound(objectsDetected);
		}
		ui_->label_objectsDetected->setNum(objectsDetected.size());
	}
	else
	{
		this->statusBar()->showMessage(tr("Cannot search, objects must be updated!"));
		ui_->imageView_source->setData(findObject_->sceneKeypoints(), cvtCvMat2QImage(sceneImage_));
	}


	//Update object pictures
	for(QMap<int, ObjWidget*>::iterator iter=objWidgets_.begin(); iter!=objWidgets_.end(); ++iter)
	{
		iter.value()->update();
	}

	ui_->label_nfeatures->setNum((int)findObject_->sceneKeypoints().size());
	ui_->imageView_source->update();

	ui_->label_detectorDescriptorType->setText(QString("%1/%2").arg(Settings::currentDetectorType()).arg(Settings::currentDescriptorType()));

	//update slider
	if(ui_->horizontalSlider_frames->isEnabled())
	{
		ui_->horizontalSlider_frames->blockSignals(true);
		ui_->horizontalSlider_frames->setValue(camera_->getCurrentFrameIndex()-1);
		ui_->label_frame->setNum(camera_->getCurrentFrameIndex()-1);
		ui_->horizontalSlider_frames->blockSignals(false);
	}

	ui_->label_timeTotal->setNum(findObject_->timeStamps().value(FindObject::kTimeTotal, 0));
	int refreshRate = qRound(1000.0f/float(updateRate_.restart()));
	if(refreshRate > 0 && refreshRate < lowestRefreshRate_)
	{
		lowestRefreshRate_ = refreshRate;
	}
	// Refresh the label only after each 1000 ms
	if(refreshStartTime_.elapsed() > 1000)
	{
		if(Settings::getCamera_4imageRate()>0.0)
		{
			ui_->label_timeRefreshRate->setText(QString("(%1 Hz - %2 Hz)").arg(QString::number(Settings::getCamera_4imageRate())).arg(QString::number(lowestRefreshRate_)));
		}
		else
		{
			ui_->label_timeRefreshRate->setText(QString("(%2 Hz)").arg(QString::number(lowestRefreshRate_)));
		}
		lowestRefreshRate_ = 99;
		refreshStartTime_.start();
	}
}

void MainWindow::notifyParametersChanged(const QStringList & paramChanged)
{
	//Selective update (to not update all objects for a simple camera's parameter modification)
	bool detectorDescriptorParamsChanged = false;
	bool nearestNeighborParamsChanged = false;
	for(QStringList::const_iterator iter = paramChanged.begin(); iter!=paramChanged.end(); ++iter)
	{
		UINFO("Parameter changed: %s -> \"%s\"", iter->toStdString().c_str(), Settings::getParameter(*iter).toString().toStdString().c_str());
		//UINFO("lastObjectsUpdateParameters_.value(*iter)=%s, Settings::getParameter(*iter)=%s",
		//		lastObjectsUpdateParameters_.value(*iter).toString().toStdString().c_str(),
		//		Settings::getParameter(*iter).toString().toStdString().c_str());
		if(lastObjectsUpdateParameters_.value(*iter) != Settings::getParameter(*iter))
		{
			if(!detectorDescriptorParamsChanged && iter->contains("Feature2D"))
			{
				detectorDescriptorParamsChanged = true;
			}
			else if(!nearestNeighborParamsChanged &&
					( (iter->contains("NearestNeighbor") && Settings::getGeneral_invertedSearch()) ||
					  iter->compare(Settings::kGeneral_invertedSearch()) == 0 ||
					  (iter->compare(Settings::kGeneral_vocabularyIncremental()) == 0 && Settings::getGeneral_invertedSearch()) ||
					  (iter->compare(Settings::kGeneral_threads()) == 0 && !Settings::getGeneral_invertedSearch()) ))
			{
				nearestNeighborParamsChanged = true;
			}
			lastObjectsUpdateParameters_[*iter] = Settings::getParameter(*iter);
		}

		if(iter->compare(Settings::kGeneral_port()) == 0 &&
		   Settings::getGeneral_port() != ui_->label_port->text().toInt() &&
		   Settings::getGeneral_port() != 0)
		{
			setupTCPServer();
		}
	}

	if(detectorDescriptorParamsChanged)
	{
		//Re-init detector and extractor
		findObject_->updateDetectorExtractor();
	}

	if(Settings::getGeneral_autoUpdateObjects())
	{
		if(detectorDescriptorParamsChanged)
		{
			this->updateObjects();
		}
		else if(nearestNeighborParamsChanged)
		{
			this->updateVocabulary();
		}
	}
	else if(objWidgets_.size() && (detectorDescriptorParamsChanged || nearestNeighborParamsChanged))
	{
		this->statusBar()->showMessage(tr("A parameter has changed... \"Update objects\" may be required."));
	}
	if(!camera_->isRunning() && !sceneImage_.empty())
	{
		this->update();
		ui_->label_timeRefreshRate->setVisible(false);
	}

	ui_->actionCamera_from_video_file->setChecked(!Settings::getCamera_5mediaPath().isEmpty() && !UDirectory::exists(Settings::getCamera_5mediaPath().toStdString()));
	ui_->actionCamera_from_directory_of_images->setChecked(!Settings::getCamera_5mediaPath().isEmpty() && UDirectory::exists(Settings::getCamera_5mediaPath().toStdString()));
	ui_->actionCamera_from_TCP_IP->setChecked(Settings::getCamera_6useTcpCamera());
}