//
//  Calib3dTest.swift
//
//  Created by Giles Payne on 2020/05/26.
//

import XCTest
import OpenCV

class CalibTest: OpenCVTestCase {

    var size = Size()

    override func setUp() {
        super.setUp()
        size = Size(width: 3, height: 3)
    }

    override func tearDown() {
        super.tearDown()
    }

    func testFindChessboardCornersMatSizeMat() {
        let patternSize = Size(width: 9, height: 6)
        let corners = MatOfPoint2f()
        Calib.findChessboardCorners(image: grayChess, patternSize: patternSize, corners: corners)
        XCTAssertFalse(corners.empty())
    }

    func testFindChessboardCornersMatSizeMatInt() {
        let patternSize = Size(width: 9, height: 6)
        let corners = MatOfPoint2f()
        Calib.findChessboardCorners(image: grayChess, patternSize: patternSize, corners: corners, flags: Calib.CALIB_CB_ADAPTIVE_THRESH + Calib.CALIB_CB_NORMALIZE_IMAGE + Calib.CALIB_CB_FAST_CHECK)
        XCTAssertFalse(corners.empty())
    }

    func testFind4QuadCornerSubpix() {
        let patternSize = Size(width: 9, height: 6)
        let corners = MatOfPoint2f()
        let region_size = Size(width: 5, height: 5)
        Calib.findChessboardCorners(image: grayChess, patternSize: patternSize, corners: corners)
        Calib.find4QuadCornerSubpix(img: grayChess, corners: corners, region_size: region_size)
        XCTAssertFalse(corners.empty())
    }

    func testFindCirclesGridMatSizeMat() {
        let size = 300
        let img = Mat(rows:Int32(size), cols:Int32(size), type:CvType.CV_8U)
        img.setTo(scalar: Scalar(255))
        let centers = Mat()

        XCTAssertFalse(Calib.findCirclesGrid(image: img, patternSize: Size(width: 5, height: 5), centers: centers))

        for i in 0..<5 {
            for j in 0..<5 {
                let x = Int32(size * (2 * i + 1) / 10)
                let y = Int32(size * (2 * j + 1) / 10)
                let pt = Point(x: x, y: y)
                Imgproc.circle(img: img, center: pt, radius: 10, color: Scalar(0), thickness: -1)
            }
        }

        XCTAssert(Calib.findCirclesGrid(image: img, patternSize:Size(width:5, height:5), centers:centers))

        XCTAssertEqual(25, centers.rows())
        XCTAssertEqual(1, centers.cols())
        XCTAssertEqual(CvType.CV_32FC2, centers.type())
    }

    func testFindCirclesGridMatSizeMatInt() {
        let size:Int32 = 300
        let img = Mat(rows:size, cols: size, type: CvType.CV_8U)
        img.setTo(scalar: Scalar(255))
        let centers = Mat()

        XCTAssertFalse(Calib.findCirclesGrid(image: img, patternSize: Size(width: 3, height: 5), centers: centers, flags: Calib.CALIB_CB_CLUSTERING | Calib.CALIB_CB_ASYMMETRIC_GRID))

        let step = size * 2 / 15
        let offsetx = size / 6
        let offsety = (size - 4 * step) / 2
        for i:Int32 in 0...2 {
            for j:Int32 in 0...4 {
                let pt = Point(x: offsetx + (2 * i + j % 2) * step, y: offsety + step * j)
                Imgproc.circle(img: img, center: pt, radius: 10, color: Scalar(0), thickness: -1)
            }
        }

        XCTAssert(Calib.findCirclesGrid(image: img, patternSize: Size(width: 3, height: 5), centers: centers, flags: Calib.CALIB_CB_CLUSTERING | Calib.CALIB_CB_ASYMMETRIC_GRID))

        XCTAssertEqual(15, centers.rows())
        XCTAssertEqual(1, centers.cols())
        XCTAssertEqual(CvType.CV_32FC2, centers.type())
    }

    func testConstants()
    {
        // calib3d.hpp: some constants have conflict with constants from 'fisheye' namespace
        XCTAssertEqual(1, Calib.CALIB_USE_INTRINSIC_GUESS)
        XCTAssertEqual(2, Calib.CALIB_FIX_ASPECT_RATIO)
        XCTAssertEqual(4, Calib.CALIB_FIX_PRINCIPAL_POINT)
        XCTAssertEqual(8, Calib.CALIB_ZERO_TANGENT_DIST)
        XCTAssertEqual(16, Calib.CALIB_FIX_FOCAL_LENGTH)
        XCTAssertEqual(32, Calib.CALIB_FIX_K1)
        XCTAssertEqual(64, Calib.CALIB_FIX_K2)
        XCTAssertEqual(128, Calib.CALIB_FIX_K3)
        XCTAssertEqual(0x0800, Calib.CALIB_FIX_K4)
        XCTAssertEqual(0x1000, Calib.CALIB_FIX_K5)
        XCTAssertEqual(0x2000, Calib.CALIB_FIX_K6)
        XCTAssertEqual(0x4000, Calib.CALIB_RATIONAL_MODEL)
        XCTAssertEqual(0x8000, Calib.CALIB_THIN_PRISM_MODEL)
        XCTAssertEqual(0x10000, Calib.CALIB_FIX_S1_S2_S3_S4)
        XCTAssertEqual(0x40000, Calib.CALIB_TILTED_MODEL)
        XCTAssertEqual(0x80000, Calib.CALIB_FIX_TAUX_TAUY)
        XCTAssertEqual(0x100000, Calib.CALIB_USE_QR)
        XCTAssertEqual(0x200000, Calib.CALIB_FIX_TANGENT_DIST)
        XCTAssertEqual(0x100, Calib.CALIB_FIX_INTRINSIC)
        XCTAssertEqual(0x200, Calib.CALIB_SAME_FOCAL_LENGTH)
        XCTAssertEqual(0x400, Calib.CALIB_ZERO_DISPARITY)
        XCTAssertEqual((1 << 17), Calib.CALIB_USE_LU)
        XCTAssertEqual((1 << 22), Calib.CALIB_USE_EXTRINSIC_GUESS)
    }

}