/*
 * Copyright (c) 2011-2015, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package boofcv.demonstrations.calibration;

import boofcv.abst.geo.calibration.ImageResults;
import boofcv.alg.geo.calibration.CalibrationObservation;
import boofcv.gui.StandardAlgConfigPanel;
import boofcv.gui.calibration.CalibratedImageGridPanel;
import boofcv.struct.calib.IntrinsicParameters;
import org.ejml.data.DenseMatrix64F;

import javax.swing.*;
import javax.swing.event.ChangeEvent;
import javax.swing.event.ChangeListener;
import javax.swing.event.ListSelectionEvent;
import javax.swing.event.ListSelectionListener;
import java.awt.*;
import java.awt.event.ItemEvent;
import java.awt.event.ItemListener;
import java.awt.event.MouseEvent;
import java.awt.event.MouseListener;
import java.awt.image.BufferedImage;
import java.util.ArrayList;
import java.util.List;
import java.util.Vector;

/**
 * Panel for displaying information on observed calibration grids during the calibration process.
 *
 * @author Peter Abeles
 */
public class StereoPlanarPanel extends JPanel
	implements ListSelectionListener, ItemListener, ChangeListener, MouseListener
{
	// display for calibration information on individual cameras
	CalibratedImageGridPanel leftView = new CalibratedImageGridPanel();
	CalibratedImageGridPanel rightView = new CalibratedImageGridPanel();

	// list of images and calibration results
	List listLeft = new ArrayList();
	List listRight = new ArrayList();

	List leftResults;
	List rightResults;

	// GUI components
	JCheckBox checkPoints;
	JCheckBox checkErrors;
	JCheckBox checkUndistorted;
	JCheckBox checkAll;
	JCheckBox checkNumbers;
	JSpinner selectErrorScale;

	JTextArea meanErrorLeft;
	JTextArea maxErrorLeft;
	JTextArea meanErrorRight;
	JTextArea maxErrorRight;

	JList imageList;
	List names = new ArrayList();

	int selectedImage;

	boolean showPoints = true;
	boolean showErrors = true;
	boolean showUndistorted = false;
	boolean showAll = false;
	boolean showNumbers = true;
	double errorScale = 20;

	public StereoPlanarPanel() {
		super(new BorderLayout());

		leftView.setImages(listLeft);
		rightView.setImages(listRight);

		imageList = new JList();
		imageList.setSelectionMode(ListSelectionModel.SINGLE_SELECTION);
		imageList.addListSelectionListener(this);

		meanErrorLeft = createTextComponent();
		maxErrorLeft = createTextComponent();
		meanErrorRight = createTextComponent();
		maxErrorRight = createTextComponent();

		leftView.addMouseListener(this);
		rightView.addMouseListener(this);

		JToolBar toolBar = createToolBar();

		JPanel center = new JPanel();
		center.setLayout(new GridLayout(1,2));
		center.add(leftView);
		center.add(rightView);

		add(toolBar, BorderLayout.PAGE_START);
		add(center, BorderLayout.CENTER);
		add(new SideBar(), BorderLayout.WEST);
	}

	private JTextArea createTextComponent() {
		JTextArea comp = new JTextArea(1,6);
		comp.setMaximumSize(comp.getPreferredSize());
		comp.setEditable(false);
		return comp;
	}

	private JToolBar createToolBar() {
		JToolBar toolBar = new JToolBar("Controls");

		checkPoints = new JCheckBox("Show Points");
		checkPoints.setSelected(showPoints);
		checkPoints.addItemListener(this);

		checkErrors = new JCheckBox("Show Errors");
		checkErrors.setSelected(showErrors);
		checkErrors.addItemListener(this);

		checkAll = new JCheckBox("All Points");
		checkAll.setSelected(showAll);
		checkAll.addItemListener(this);

		checkUndistorted = new JCheckBox("Rectify");
		checkUndistorted.setSelected(showUndistorted);
		checkUndistorted.addItemListener(this);
		checkUndistorted.setEnabled(false);

		checkNumbers = new JCheckBox("Numbers");
		checkNumbers.setSelected(showNumbers);
		checkNumbers.addItemListener(this);

		selectErrorScale = new JSpinner(new SpinnerNumberModel(errorScale, 5, 100, 5));
		selectErrorScale.addChangeListener(this);
		selectErrorScale.setMaximumSize(selectErrorScale.getPreferredSize());

		toolBar.add(checkPoints);
		toolBar.add(checkErrors);
		toolBar.add(checkAll);
		toolBar.add(checkUndistorted);
		toolBar.add(checkNumbers);
		toolBar.add(new JLabel("| Error Scale"));
		toolBar.add(selectErrorScale);
		return toolBar;
	}

	public void setRectification( IntrinsicParameters leftParam , DenseMatrix64F leftRect ,
								  IntrinsicParameters rightParam , DenseMatrix64F rightRect ) {
		leftView.setDistorted(leftParam,leftRect);
		rightView.setDistorted(rightParam,rightRect);
		checkUndistorted.setEnabled(true);
	}

	public void addPair( String name , BufferedImage imageLeft , BufferedImage imageRight )
	{
		listLeft.add(imageLeft);
		listRight.add(imageRight);
		names.add(name);

		imageList.removeListSelectionListener(this);
		imageList.setListData(new Vector