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

; #include <WinAPIDiag.au3>
#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\queen_spade.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

;;-- 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 $boundingRect = _cvRect()

Local $CurrentMatchesNumber = 0
Local $x = 0, $y = 0, $w = 0, $h = 0

ConsoleWrite("Loops number:" & _VectorOfVectorOfPointGetSize($contoursVect) - 1 & @CRLF)

For $i = 0 To _VectorOfVectorOfPointGetSize($contoursVect) - 1
	ConsoleWrite("This is Loop " & $i & @CRLF)
	_VectorOfVectorOfPointGetItemPtr($contoursVect, $i, $tVectorPointPtr)

	Local $contour = _cveInputArrayFromVectorOfPoint($tVectorPointPtr.value)
	_cveBoundingRectangle($contour, $boundingRect)
	ConsoleWrite("$boundingRect[" & $i & "] = (" & $boundingRect.x & ", " & $boundingRect.y & ", " & $boundingRect.width & ", " & $boundingRect.height & ")" & @CRLF)
	; _WinAPI_DisplayStruct($boundingRect, $tagCvRect)

	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)

	Local $cropped = _cveMatCreateFromRect($img_scene, $boundingRect)
	_cveImshowMat("", $cropped)
	_cveWaitKey()
	_cveDestroyAllWindows()


	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, $cropped, _cveNoArrayMat(), $keypoints_scene, $descriptors_scene, False)
	Local $KeyPSceneNumber = _VectorOfKeyPointGetSize($keypoints_scene)
	ConsoleWrite("Scene keypoints: " & $KeyPSceneNumber & @CRLF)


	;;-- 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

	Local $GoodMatchesNumber = _VectorOfDMatchGetSize($good_matches)
	ConsoleWrite("Good matches: " & $GoodMatchesNumber & @CRLF)


	If $GoodMatchesNumber > $CurrentMatchesNumber Then
		$CurrentMatchesNumber = $GoodMatchesNumber
		$x = $boundingRect.x
		$y = $boundingRect.y
		$w = $boundingRect.width
		$h = $boundingRect.height
	EndIf
	ConsoleWrite("CurrentMatchesNumber:" & $CurrentMatchesNumber & @CRLF)

Next


Local $tMatchRect = _cvRect($x, $y, $w, $h)
; Draw a red rectangle around the matched position
_cveRectangleMat($img_scene, $tMatchRect, _cvRGB(255, 0, 0), 2, $CV_LINE_8, 0)

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