#Region ;**** Directives created by AutoIt3Wrapper_GUI ****
#AutoIt3Wrapper_UseX64=y
#EndRegion ;**** Directives created by AutoIt3Wrapper_GUI ****
Opt("MustDeclareVars", 1)

#include "emgucv-autoit-bindings\cve_extra.au3"
_OpenCV_DLLOpen("libemgucv-windesktop-4.5.3.4721\libs\x64\cvextern.dll")

Local $img_matches = _cveMatCreate()

Local $img_obj = _cveImreadAndCheck("Pic4cards\cards.jpg", $CV_IMREAD_COLOR)   ; query image - object
Local $gray_obj = _cveMatCreate()
_cveCvtColorMat($img_obj, $gray_obj, $CV_COLOR_BGR2GRAY)

Local $img_scene = _cveImreadAndCheck("Pic4cards\cards.jpg", $CV_IMREAD_COLOR)   ; query image - scene
Local $gray_scene = _cveMatCreate()
_cveCvtColorMat($img_scene, $gray_scene, $CV_COLOR_BGR2GRAY)

Local $Gaus_scene = _cveMatCreate()
_cveGaussianBlurMat($gray_scene, $Gaus_scene, _cvSize(3, 3), 0, 0)
_cveThresholdMat($Gaus_scene, $Gaus_scene, 200, 255, $CV_THRESH_BINARY)

Local $contoursVect = _VectorOfVectorOfPointCreate()
Local $contours = _cveOutputArrayFromVectorOfVectorOfPoint($contoursVect)

Local $hierarchyMat = _cveMatCreate()
Local $hierarchy = _cveOutputArrayFromMat($hierarchyMat)

Local $io_arr_Gaus_scene = _cveInputOutputArrayFromMat($Gaus_scene)

_cveFindContours($io_arr_Gaus_scene, $contours, $hierarchy, $CV_RETR_EXTERNAL, $CV_CHAIN_APPROX_SIMPLE)

Local $cnts = _VectorOfVectorOfPointGetSize($contoursVect)
ConsoleWrite("Found " & $cnts & " countours" & @CRLF & @CRLF)

Local $tVectorPointPtr = DllStructCreate("ptr value")
Local $tPointPtr = DllStructCreate("ptr value")
Local $tPoint

For $i = 0 To _VectorOfVectorOfPointGetSize($contoursVect) - 1
	_VectorOfVectorOfPointGetItemPtr($contoursVect, $i, $tVectorPointPtr)

	For $j = 0 To _VectorOfPointGetSize($tVectorPointPtr.value) - 1
		_VectorOfPointGetItemPtr($tVectorPointPtr.value, $j, $tPointPtr)
		$tPoint = DllStructCreate($tagCvPoint, $tPointPtr.value)
		;ConsoleWrite("$cnts[" & $i & "][" & $j & "] = (" & $tPoint.x & ", " & $tPoint.y & ")" & @CRLF)
	Next

	;ConsoleWrite(@CRLF)
Next

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;


Local $bounding = _cveMatCreate()
Local $boundingRect = _cveInputArrayFromMat($bounding)

_cveBoundingRectangleMat($cnts, $boundingRect)



;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

;;-- Step 1: Detect the keypoints using ORB Detector, compute the descriptors
Local $ORB_DETECTOR = 0
Local $BRISK_DETECTOR = 1
Local $KAZE_DETECTOR = 2

Local $algorithm = $ORB_DETECTOR
Local $tFeature2DPtr = DllStructCreate("ptr value")
Local $tSharedPtr = DllStructCreate("ptr")
Local $destructor

Switch $algorithm
	Case $ORB_DETECTOR
		_cveOrbCreate(100000, 1.2, 8, 31, 0, 2, $CV_ORB_HARRIS_SCORE, 31, 20, $tFeature2DPtr, $tSharedPtr)
		$destructor = "_cveOrbRelease"
	Case $BRISK_DETECTOR
		_cveBriskCreate(30, 3, 1, $tFeature2DPtr, $tSharedPtr)
		$destructor = "_cveBriskRelease"
	Case $KAZE_DETECTOR
		;$can_compute = $match_type <> $CV_NORM_HAMMING And $match_type <> $CV_NORM_HAMMING2
		_cveKAZEDetectorCreate(False, False, 0.001, 4, 4, $CV_KAZE_DIFF_PM_G2, $tFeature2DPtr, $tSharedPtr)
		$destructor = "_cveKAZEDetectorRelease"
EndSwitch


Local $detector = $tFeature2DPtr.value
Local $keypoints_object = _VectorOfKeyPointCreate()
Local $keypoints_scene = _VectorOfKeyPointCreate()
Local $descriptors_object = _cveMatCreate()
Local $descriptors_scene = _cveMatCreate()

_CvFeature2DDetectAndComputeMat($detector, $gray_obj, _cveNoArrayMat(), $keypoints_object, $descriptors_object, False)
Local $KeypointsNumber = _VectorOfKeyPointGetSize($keypoints_object)
ConsoleWrite("object keypoints: " & $KeypointsNumber & @CRLF)
_CvFeature2DDetectAndComputeMat($detector, $boundingRect, _cveNoArrayMat(), $keypoints_scene, $descriptors_scene, False)

;;-- Step 2: Matching descriptor vectors with a BruteForce based matcher
;; Since ORB is a floating-point descriptor NORM_L2 is used
Local $tMatcherPtr = DllStructCreate("ptr value")

If $algorithm = $KAZE_DETECTOR Then
	Local $bf_matcher = _cveBFMatcherCreate($CV_NORM_L2, False, $tMatcherPtr)
Else
	Local $bf_matcher = _cveBFMatcherCreate($CV_NORM_HAMMING, False, $tMatcherPtr)
EndIf

Local $matcher = $tMatcherPtr.value
Local $knn_matches = _VectorOfVectorOfDMatchCreate()     ;


_cveDescriptorMatcherKnnMatch1Mat($matcher, $descriptors_object, $descriptors_scene, $knn_matches, 2, _cveNoArrayMat(), False)         ;
Local $MatchesNumber = _VectorOfDMatchGetSize($knn_matches)
ConsoleWrite("matches: " & $MatchesNumber & @CRLF)

;;-- Filter matches using the Lowe's ratio test
Local $ratio_thresh = 0.75     ;
Local $good_matches = _VectorOfDMatchCreate()     ;
Local $tVectorDMatchPtr = DllStructCreate("ptr value")
Local $tDMatchPtr0 = DllStructCreate("ptr value")
Local $tDMatchPtr1 = DllStructCreate("ptr value")

For $i = 0 To _VectorOfVectorOfDMatchGetSize($knn_matches) - 1
	_VectorOfVectorOfDMatchGetItemPtr($knn_matches, $i, $tVectorDMatchPtr)

	_VectorOfDMatchGetItemPtr($tVectorDMatchPtr.value, 0, $tDMatchPtr0)
	Local $tDMatch0 = DllStructCreate($tagCvDMatch, $tDMatchPtr0.value)

	_VectorOfDMatchGetItemPtr($tVectorDMatchPtr.value, 1, $tDMatchPtr1)
	Local $tDMatch1 = DllStructCreate($tagCvDMatch, $tDMatchPtr1.value)

	If $tDMatch0.distance < $ratio_thresh * $tDMatch1.distance Then
		_VectorOfDMatchPush($good_matches, $tDMatch0)
	EndIf
Next

;;-- Get the corners from the image_1 ( the object to be "detected" )
Local $img_object_size = _cvSize()
_cveMatGetSize($img_obj, $img_object_size)

Local $obj_corners = _VectorOfPointFCreate()
Local $i_arr_obj_corners = _cveInputArrayFromVectorOfPointF($obj_corners)

_VectorOfPointFPush($obj_corners, _cvPoint2f(0, 0))
_VectorOfPointFPush($obj_corners, _cvPoint2f($img_object_size.width, 0))
_VectorOfPointFPush($obj_corners, _cvPoint2f($img_object_size.width, $img_object_size.height))
_VectorOfPointFPush($obj_corners, _cvPoint2f(0, $img_object_size.height))

;; draw found regions
Local $tPointFPtr = DllStructCreate("ptr value")
Local $scene_corners = _VectorOfPointFCreateSize(4)

_VectorOfPointFGetItemPtr($scene_corners, 0, $tPointFPtr)
Local $scene_corners_0 = DllStructCreate($tagCvPoint2D32f, $tPointFPtr.value)

_VectorOfPointFGetItemPtr($scene_corners, 1, $tPointFPtr)
Local $scene_corners_1 = DllStructCreate($tagCvPoint2D32f, $tPointFPtr.value)

_VectorOfPointFGetItemPtr($scene_corners, 2, $tPointFPtr)
Local $scene_corners_2 = DllStructCreate($tagCvPoint2D32f, $tPointFPtr.value)

_VectorOfPointFGetItemPtr($scene_corners, 3, $tPointFPtr)
Local $scene_corners_3 = DllStructCreate($tagCvPoint2D32f, $tPointFPtr.value)

;;-- Draw lines between the corners (the mapped object in the scene - image_2 )
_cveLineMat($img_scene, _cvPoint($scene_corners_0.x + $img_object_size.width, $scene_corners_0.y), _
		_cvPoint($scene_corners_1.x + $img_object_size.width, $scene_corners_1.y), _cvScalar(0, 255, 0), 4)             ;

_cveLineMat($img_scene, _cvPoint($scene_corners_1.x + $img_object_size.width, $scene_corners_1.y), _
		_cvPoint($scene_corners_2.x + $img_object_size.width, $scene_corners_2.y), _cvScalar(0, 255, 0), 4)             ;

_cveLineMat($img_scene, _cvPoint($scene_corners_2.x + $img_object_size.width, $scene_corners_2.y), _
		_cvPoint($scene_corners_3.x + $img_object_size.width, $scene_corners_3.y), _cvScalar(0, 255, 0), 4)             ;

_cveLineMat($img_scene, _cvPoint($scene_corners_3.x + $img_object_size.width, $scene_corners_3.y), _
		_cvPoint($scene_corners_0.x + $img_object_size.width, $scene_corners_0.y), _cvScalar(0, 255, 0), 4)             ;



_cveImshowMat("", $img_scene)
_cveWaitKey()
_cveDestroyAllWindows()
_Opencv_DLLClose()