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// skittle.cc - Classe Skittle
// robert - Programme du robot APBteam
// Copyright (C) 2005 Olivier Gaillard

/// @file skittle.cc  Reconnaissance des objets quilles

#include <iostream>

#include "skittle.hh"
#include "hotelling.hh"
    
/// Constructeur
Skittle::Skittle (Img *img, Segm *segm)
    : segm_ (segm), img_ (img), pcX_ (0), pcY_ (0)
{
    oconfig_ = OConfig::getInstance (); 
}

/// Destructeur
Skittle::~Skittle (void)
{
}

/// Recherche de la composante principale 
void
Skittle::pca (const Zone &zone)
{
    // Agrandissement de la zone de recherche
    const int grow = oconfig_->skittleGrow;
    int ymin = img_->minWithBorder (zone.ymin - grow, 0);
    int ymax = img_->maxWithBorder (zone.ymax + grow, img_->height_);
    int xmin = img_->minWithBorder (zone.xmin - grow, 0);
    int xmax = img_->maxWithBorder (zone.xmax + grow, img_->width_);
    /// Initialisation du saut de point
    int jump = oconfig_->jumpPointDist/oconfig_->skittleDivJump;
    if (!jump) jump = 1;
    // Parcours d'une partie des pixels de l'image
    int tmpY;
    std::vector<Hpoint> l;
    for (int y = ymin; y < ymax; y += jump) 
      {
	tmpY = y*img_->width_;
	for (int x = xmin; x < xmax; x += jump) 
	    if (segm_->giveColor (img_->tabData_ + ((tmpY + x) * 3), true, true) == zone.color)
	      {
		*f2 << x << " " << y << std::endl;
		Hpoint h (x, y);
		l.push_back (h);
	      }
      }
    // Calcul de la composante principale
    Hotelling hote (l);
    hote.eigenVectors ();
    hote.get (pcX_, pcY_, pc2X_, pc2Y_);
}

/// Utilis� pour la recherche de la courbure, cherche le point le plus haut
int
Skittle::climb (const int startX, int startY, const int color)
{
    while ((segm_->giveColor (img_->tabData_ + ((startY*img_->width_ + startX) * 3), true, true) == color)
	   && (startY > 0))
      {
	--startY;
	*f << startX << " " << startY << "\n";
      }
    return startY;
}

/// V�rifie qu'un catadiopre est � proximit�
Skittle::Pos
Skittle::whereIsReflectBand (const Zone &zone, const std::vector<Zone> &listReflectBand)
{
    const double minAreaRatio = 0.1;
    const double maxAreaRatio = 0.4;
    // Test les variables de composantes principales + liste transmise
    if (pcX_ || !pcY_ || listReflectBand.size ())
	return error;
    // Analyse de la taille
    if (zone.area < minAreaRatio || zone.area > maxAreaRatio) // valeur r�elle 0.2
	// Parcours la liste des catadiopres
	for (std::vector<Zone>::const_iterator iter = listReflectBand.begin ();
	     iter != listReflectBand.end (); ++iter)
	  {
	    // Test la distance cart�sienne
	    if (dist (iter->centerx, iter->centery, zone.centerx, zone.centery))
		// Test la distance orthogonale
		if (orthoDist (iter->centerx - zone.centerx, iter->centery - zone.centery,
			       pcX_, pcY_))
		  {
		    if (iter->centerx > zone.centerx)
			return up;
		    else return down;
		  }

	  }
    return farAway;
}

/// Recherche de du c�t� de la courbure
Skittle::Pos
Skittle::bend (const Zone &zone)
{
    /// Border
    const int border = oconfig_->skittleBorder;
    /// Initialisation du saut de point
    int jump = 1; //oconfig_->jumpPointDist/oconfig_->skittleDivJump;
    if (!jump) jump = 1;
    /// Initialisation du point de d�part
    const int startY = img_->minWithBorder ((int)(zone.ymin + (zone.ymax - zone.ymin) * 0.25), 0);
    /// Point sup�rieur de la quille
    int upperPoint;
    /// Recherche du premier et du dernier point
    int firstPoint = img_->maxWithBorder (zone.xmin + border, img_->width_);
    int lastPoint = img_->minWithBorder (zone.xmax - border, 0);
//    int limitPoint = firstPoint > lastPoint ? firstPoint : lastPoint; 

    int limitPoint = climb (zone.centerx, startY, zone.color);
//    std::cout << "<Skittle::bend> " << firstPoint << " " << lastPoint << " " << limitPoint << std::endl;
    int above = 0; int below = 0;
//    std::cout << "<Skittle::bend> ";
    int last = 0; 
    int trash = 0;
    /// Parcours des autres points
    for (int i = firstPoint + jump; i < lastPoint - jump; i+=jump)
      {
	upperPoint = climb (i, startY, zone.color);
	if (last == upperPoint)
	    ++trash;
	else
	  {
//	    std::cout << upperPoint << " ";
	    if (upperPoint > limitPoint) ++below;
	    else ++above;
	  }
	last = upperPoint;
      }
//    std::cout << std::endl;
    const int score = (int)((lastPoint - firstPoint - trash) / jump * oconfig_->skittleScoreBendRatio) - 2;

//    std::cout << "-- " << above << " " << below << " " << score << std::endl;
    Pos bending = error;
    if (above > score) bending = up;
    else if (below > score) bending = down;
    
    return bending;
}

/// Analyse la zone
bool
Skittle::analyse (Zone &zone, const std::vector<Zone> &listReflectBand)
{
    //    delete f; delete f2;
    f = new std::ofstream ("data", std::ios_base::trunc);
    f2 = new std::ofstream ("data2", std::ios_base::trunc);
    // group est partiel ? 
    // if (zone.partial)
    // quille verticale sur l'image ?
    zone.ratio = (zone.ymax - zone.ymin)/(double)(zone.xmax - zone.xmin);
    if (zone.ratio > oconfig_->skittleVerticalRatio)
      {
	zone.vertical = true;
	// debout ou couch� ?
	//bend_ = bend (zone);
	whereIsReflectBand (zone, listReflectBand);
      }
    else
      {
	zone.vertical = false;
	bend_ = down;
	// calcul de l'orientation
	pca (zone);
      }

    bend (zone);
    pca (zone);
    feet_ = whereIsBottom (zone);
    if (checkArea (zone) == 1) 
	zone.alone = true;
    else zone.alone = false;
    

    f->close ();
    f2->close ();
    return true;
}
    
/// Test si la zone contient les vis
double
Skittle::isBottom (const Zone &zone, const Pos pos)
{
    int newCenterx, newCentery;
    // Recherche de la zone � analyser
    int shiftx = (int)(pcX_*(zone.xmax-zone.centerx));
    int shifty = (int)(1.2*pcY_*(zone.ymax-zone.centery));
    if (((pos == down) && (pcY_ > 0)) || ((pos == up) && (pcY_ <0)))
      {
	shiftx *= -1;
	shifty *= -1;
      }
    newCenterx = (int)(zone.centerx - shiftx);
    newCentery = (int)(zone.centery - shifty);
    //std::cout << "--- " << (zone.xmax - zone.xmin) * (zone.ymax - zone.ymin);
    //std::cout << "%%%% " << newCenterx << " " << newCentery << std::endl;
    //std::cout << "%%% " << zone.centerx << " " << zone.centery << std::endl;
    //std::cout << "%% " << zone.xmin << " " << zone.xmax << " " << zone.ymin << " " << zone.ymax << std::endl;
    // Recherche des extr�mit�s
    int startx = (int)(newCenterx - (zone.xmax - zone.xmin)*pc2X_);
    int endx = (int)(newCenterx + (zone.xmax - zone.xmin)*pc2X_);
    //std::cout << "% " << startx << " " << endx << std::endl;
    // Test si la zone est valide
    if ((startx < 0) || (endx > img_->width_))
	return -1;
    // Parcours de la zone
    int last = -1;
    int diff = 0;
    int y, color;
    for (int x=startx; x < endx; ++x)
      {
	y = (int)(newCentery + (x - newCenterx)/2*pc2Y_);
	if ((y < 0) || (y > img_->height_))
	    return -1;
	color = segm_->giveColor (img_->tabData_ + ((y*img_->width_ + x) * 3), true, true); 
	if (color != last)
	  {
	    ++diff;
	    last = color;
	  }
      }
    //std::cout << diff << std::endl;
    return diff;
}

/// Cherche les vis de la quille
Skittle::Pos
Skittle::whereIsBottom (const Zone &zone)
{
    double isUp, isDown;
    isUp = isBottom (zone, up);
    isDown = isBottom (zone, down);
    if ((isUp == -1) || (isDown == -1))
	return error;
    if (isUp > isDown)
	return up;
    else if (isDown> isUp)
	return down;
    return error;
}

/// Verifie la coh�rence de la taille de la quille
int
Skittle::checkArea (const Zone &zone)
{
    if (zone.ymax < 150)
	if ((zone.xmax - zone.xmin) * (zone.ymax - zone.ymin) > 14000)
	    return 2;
    else if (zone.ymax >= 150)
	if ((zone.xmax - zone.xmin) * (zone.ymax - zone.ymin) > 19000)
	    return 2;
    return 1;
}


/// Affiche les infos sur la quille
void 
Skittle::show () const
{
    std::cout << "<Skittle::show> position : " << (bend_ == up ? "debout"
					       : (bend_ == down ? "couch�" : "error")) << "\n";
    std::cout << "<Skittle::show> orientation : " << pcX_ << ", " << pcY_ << "\n";
    std::cout << "<Skittle::show> catadiopre: " << (reflectBand_ == up ? "up"
					       : (reflectBand_ == down ? "down" 
					       : (reflectBand_ == farAway ? "farAway" : "error"))) << std::endl;
    std::cout << "<Skittle::show> vis : " << (feet_ == up ? "up"
					       : (feet_ == down ? "down" : "error")) << std::endl;
}