#! /usr/bin/env python
'''Image/Video utilities'''

import utils, moving

try:
    import cv2
    opencvAvailable = True
except ImportError:
    print('OpenCV library could not be loaded (video replay functions will not be available)') # TODO change to logging module
    opencvAvailable = False
try:
    import skimage
    skimageAvailable = True
except ImportError:
    print('Scikit-image library could not be loaded (HoG-based classification methods will not be available)')
    skimageAvailable = False
    
from sys import stdout, maxint
from os import listdir
from copy import deepcopy
from math import floor, log10, ceil

from numpy import dot, array, append, float32, loadtxt, savetxt, append, zeros, ones, identity, abs as npabs, logical_and, unravel_index, sum as npsum, isnan, mgrid, median, floor as npfloor, ceil as npceil
from matplotlib.mlab import find
from matplotlib.pyplot import imread, imsave



#import aggdraw # agg on top of PIL (antialiased drawing)


cvRed = {'default': (0,0,255),
         'colorblind': (0,114,178)}
cvGreen = {'default': (0,255,0),
           'colorblind': (0,158,115)}
cvBlue = {'default': (255,0,0),
          'colorblind': (213,94,0)}
cvCyan = {'default': (255, 255, 0),
          'colorblind': (240,228,66)}
cvYellow = {'default': (0, 255, 255),
            'colorblind': (86,180,233)}
cvMagenta = {'default': (255, 0, 255),
             'colorblind': (204,121,167)}
cvWhite = {k: (255, 255, 255) for k in ['default', 'colorblind']}
cvBlack = {k: (0,0,0) for k in ['default', 'colorblind']}

cvColors3 = {k: utils.PlottingPropertyValues([cvRed[k], cvGreen[k], cvBlue[k]]) for k in ['default', 'colorblind']}
cvColors = {k: utils.PlottingPropertyValues([cvRed[k], cvGreen[k], cvBlue[k], cvCyan[k], cvYellow[k], cvMagenta[k], cvWhite[k], cvBlack[k]]) for k in ['default', 'colorblind']}

def quitKey(key):
    return chr(key&255)== 'q' or chr(key&255) == 'Q'

def saveKey(key):
    return chr(key&255) == 's'

def int2FOURCC(x):
    fourcc = ''
    for i in xrange(4):
        fourcc += unichr((x >> 8*i)&255)
    return fourcc

def plotLines(filename, origins, destinations, w = 1, resultFilename='image.png'):
    '''Draws lines over the image '''
    import Image, ImageDraw # PIL
    
    img = Image.open(filename)

    draw = ImageDraw.Draw(img)
    #draw = aggdraw.Draw(img)
    #pen = aggdraw.Pen("red", width)
    for p1, p2 in zip(origins, destinations):
        draw.line([p1.x, p1.y, p2.x, p2.y], width = w, fill = (256,0,0))
        #draw.line([p1.x, p1.y, p2.x, p2.y], pen)
    del draw

    #out = utils.openCheck(resultFilename)
    img.save(resultFilename)

def rgb2gray(rgb):
    return dot(rgb[...,:3], [0.299, 0.587, 0.144])

def matlab2PointCorrespondences(filename):
    '''Loads and converts the point correspondences saved 
    by the matlab camera calibration tool'''
    points = loadtxt(filename, delimiter=',')
    savetxt(utils.removeExtension(filename)+'-point-correspondences.txt',append(points[:,:2].T, points[:,3:].T, axis=0))

def loadPointCorrespondences(filename):
    '''Loads and returns the corresponding points in world (first 2 lines) and image spaces (last 2 lines)'''
    points = loadtxt(filename, dtype=float32)
    return  (points[:2,:].T, points[2:,:].T) # (world points, image points)

def cvMatToArray(cvmat):
    '''Converts an OpenCV CvMat to numpy array.'''
    print('Deprecated, use new interface')
    a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]*cvmat.width]*cvmat.height)
    for i in xrange(cvmat.rows):
        for j in xrange(cvmat.cols):
            a[i,j] = cvmat[i,j]
    return a

def createWhiteImage(height, width, filename):
    img = ones((height, width, 3), uint8)*255
    imsave(filename, img)

if opencvAvailable:
    def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=3.0):
        '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)'''
        H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold)
        return H

    def arrayToCvMat(a, t = cv2.CV_64FC1):
        '''Converts a numpy array to an OpenCV CvMat, with default type CV_64FC1.'''
        print('Deprecated, use new interface')
        cvmat = cv2.cv.CreateMat(a.shape[0], a.shape[1], t)
        for i in range(cvmat.rows):
            for j in range(cvmat.cols):
                cvmat[i,j] = a[i,j]
        return cvmat

    def cvPlot(img, positions, color, lastCoordinate = None, **kwargs):
        if lastCoordinate is None:
            last = positions.length()-1
        elif lastCoordinate >=0:
            last = min(positions.length()-1, lastCoordinate)
        for i in range(0, last):
            cv2.line(img, positions[i].asint().astuple(), positions[i+1].asint().astuple(), color, **kwargs)

    def cvImshow(windowName, img, rescale = 1.0):
        'Rescales the image (in particular if too large)'
        from cv2 import resize
        if rescale != 1.:
            size = (int(round(img.shape[1]*rescale)), int(round(img.shape[0]*rescale)))
            resizedImg = resize(img, size)
            cv2.imshow(windowName, resizedImg)
        else:
            cv2.imshow(windowName, img)

    def computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients):
        newImgSize = (int(round(width*undistortedImageMultiplication)), int(round(height*undistortedImageMultiplication)))
        newCameraMatrix = deepcopy(intrinsicCameraMatrix)
        newCameraMatrix[0,2] = newImgSize[0]/2.
        newCameraMatrix[1,2] = newImgSize[1]/2.
        return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), identity(3), newCameraMatrix, newImgSize, cv2.CV_32FC1)

    def playVideo(filenames, windowNames = None, firstFrameNums = None, frameRate = -1, interactive = False, printFrames = True, text = None, rescale = 1., step = 1, colorBlind = False):
        '''Plays the video(s)'''
        if colorBlind:
            colorType = 'colorblind'
        else:
            colorType = 'default'
        if len(filenames) == 0:
            print('Empty filename list')
            return
        if windowNames is None:
            windowNames = ['frame{}'.format(i) for i in xrange(len(filenames))]
        wait = 5
        if rescale == 1.:
            for windowName in windowNames:
                cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
        if frameRate > 0:
            wait = int(round(1000./frameRate))
        if interactive:
            wait = 0
        captures = [cv2.VideoCapture(fn) for fn in filenames]
        if array([cap.isOpened() for cap in captures]).all():
            key = -1
            ret = True
            nFramesShown = 0
            if firstFrameNums is not None:
                for i in xrange(len(captures)):
                    captures[i].set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNums[i])
            while ret and not quitKey(key):
                rets = []
                images = []
                for cap in captures:
                    ret, img = cap.read()
                    rets.append(ret)
                    images.append(img)
                if array(rets).all():
                    if printFrames:
                        print('frame shown {0}'.format(nFramesShown))
                    for i in xrange(len(filenames)):
                        if text is not None:
                            cv2.putText(images[i], text, (10,50), cv2.FONT_HERSHEY_PLAIN, 1, cvRed[colorType])
                        cvImshow(windowNames[i], images[i], rescale) # cv2.imshow('frame', img)
                    key = cv2.waitKey(wait)
                    if saveKey(key):
                        cv2.imwrite('image-{}.png'.format(frameNum), img)
                    nFramesShown += step
                    if step > 1:
                        for i in xrange(len(captures)):
                            captures.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNums[i]+nFramesShown)
            cv2.destroyAllWindows()
        else:
            print('Video captures for {} failed'.format(filenames))

    def infoVideo(filename):
        '''Provides all available info on video '''
        cvPropertyNames = {cv2.cv.CV_CAP_PROP_FORMAT: "format",
                           cv2.cv.CV_CAP_PROP_FOURCC: "codec (fourcc)",
                           cv2.cv.CV_CAP_PROP_FPS: "fps",
                           cv2.cv.CV_CAP_PROP_FRAME_COUNT: "number of frames",
                           cv2.cv.CV_CAP_PROP_FRAME_HEIGHT: "heigh",
                           cv2.cv.CV_CAP_PROP_FRAME_WIDTH: "width",
                           cv2.cv.CV_CAP_PROP_RECTIFICATION: "rectification",
                           cv2.cv.CV_CAP_PROP_SATURATION: "saturation"}
        capture = cv2.VideoCapture(filename)
        if capture.isOpened():
            for cvprop in [#cv2.cv.CV_CAP_PROP_BRIGHTNESS
                    #cv2.cv.CV_CAP_PROP_CONTRAST
                    #cv2.cv.CV_CAP_PROP_CONVERT_RGB
                    #cv2.cv.CV_CAP_PROP_EXPOSURE
                    cv2.cv.CV_CAP_PROP_FORMAT,
                    cv2.cv.CV_CAP_PROP_FOURCC,
                    cv2.cv.CV_CAP_PROP_FPS,
                    cv2.cv.CV_CAP_PROP_FRAME_COUNT,
                    cv2.cv.CV_CAP_PROP_FRAME_HEIGHT,
                    cv2.cv.CV_CAP_PROP_FRAME_WIDTH,
                    #cv2.cv.CV_CAP_PROP_GAIN,
                    #cv2.cv.CV_CAP_PROP_HUE
                    #cv2.cv.CV_CAP_PROP_MODE
                    #cv2.cv.CV_CAP_PROP_POS_AVI_RATIO
                    #cv2.cv.CV_CAP_PROP_POS_FRAMES
                    #cv2.cv.CV_CAP_PROP_POS_MSEC
                    #cv2.cv.CV_CAP_PROP_RECTIFICATION,
                    #cv2.cv.CV_CAP_PROP_SATURATION
            ]:
                prop = capture.get(cvprop)
                if cvprop == cv2.cv.CV_CAP_PROP_FOURCC and prop > 0:
                    prop = int2FOURCC(int(prop))
                print('Video {}: {}'.format(cvPropertyNames[cvprop], prop))
        else:
            print('Video capture for {} failed'.format(filename))

    def getImagesFromVideo(videoFilename, firstFrameNum = 0, lastFrameNum = 1, step = 1, saveImage = False, outputPrefix = 'image'):
        '''Returns nFrames images from the video sequence'''
        images = []
        capture = cv2.VideoCapture(videoFilename)
        if capture.isOpened():
            rawCount = capture.get(cv2.cv.CV_CAP_PROP_FRAME_COUNT)
            if rawCount < 0:
                rawCount = lastFrameNum+1
            nDigits = int(floor(log10(rawCount)))+1
            ret = False
            capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum)
            frameNum = firstFrameNum
            while frameNum<lastFrameNum and frameNum<rawCount:
                ret, img = capture.read()
                i = 0
                while not ret and i<10:
                    ret, img = capture.read()
                    i += 1
                if img is not None and img.size>0:
                    if saveImage:
                        frameNumStr = format(frameNum, '0{}d'.format(nDigits))
                        cv2.imwrite(outputPrefix+frameNumStr+'.png', img)
                    else:
                        images.append(img)
                    frameNum +=step
                    if step > 1:
                        capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, frameNum)
            capture.release()
        else:
            print('Video capture for {} failed'.format(videoFilename))
        return images
    
    def getFPS(videoFilename):
        capture = cv2.VideoCapture(videoFilename)
        if capture.isOpened():
            fps = capture.get(cv2.cv.CV_CAP_PROP_FPS)
            capture.release()
            return fps
        else:
            print('Video capture for {} failed'.format(videoFilename))
            return None

    def imageBox(img, obj, frameNum, homography, width, height, px = 0.2, py = 0.2, minNPixels = 800):
        'Computes the bounding box of object at frameNum'
        x = []
        y = []
        if obj.hasFeatures():
            for f in obj.getFeatures():
                if f.existsAtInstant(frameNum):
                    projectedPosition = f.getPositionAtInstant(frameNum).project(homography)
                    x.append(projectedPosition.x)
                    y.append(projectedPosition.y)
        xmin = min(x)
        xmax = max(x)
        ymin = min(y)
        ymax = max(y)
        xMm = px * (xmax - xmin)
        yMm = py * (ymax - ymin)
        a = max(ymax - ymin + (2 * yMm), xmax - (xmin + 2 * xMm))
        yCropMin = int(max(0, .5 * (ymin + ymax - a)))
        yCropMax = int(min(height - 1, .5 * (ymin + ymax + a)))
        xCropMin = int(max(0, .5 * (xmin + xmax - a)))
        xCropMax = int(min(width - 1, .5 * (xmin + xmax + a)))
        if yCropMax != yCropMin and xCropMax != xCropMin and (yCropMax - yCropMin) * (xCropMax - xCropMin) > minNPixels:
            croppedImg = img[yCropMin : yCropMax, xCropMin : xCropMax]
        else:
            croppedImg = None
        return croppedImg, yCropMin, yCropMax, xCropMin, xCropMax


    def displayTrajectories(videoFilename, objects, boundingBoxes = {}, homography = None, firstFrameNum = 0, lastFrameNumArg = None, printFrames = True, rescale = 1., nFramesStep = 1, saveAllImages = False, nZerosFilenameArg = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1., annotations = [], gtMatches = {}, toMatches = {}, colorBlind = False):
        '''Displays the objects overlaid frame by frame over the video '''
        if colorBlind:
            colorType = 'colorblind'
        else:
            colorType = 'default'

        capture = cv2.VideoCapture(videoFilename)
        width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH))
        height = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT))

        windowName = 'frame'
        if rescale == 1.:
            cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)

        if undistort: # setup undistortion
            [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
        if capture.isOpened():
            key = -1
            ret = True
            frameNum = firstFrameNum
            capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum)
            if lastFrameNumArg is None:
                lastFrameNum = maxint
            else:
                lastFrameNum = lastFrameNumArg
            if nZerosFilenameArg is None:
                nZerosFilename = int(ceil(log10(lastFrameNum)))
            else:
                nZerosFilename = nZerosFilenameArg
            objectToDeleteIds = []
            while ret and not quitKey(key) and frameNum <= lastFrameNum:
                ret, img = capture.read()
                if ret:
                    if undistort:
                        img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR)
                    if printFrames:
                        print('frame {0}'.format(frameNum))
                    if len(objectToDeleteIds) > 0:
                        objects = [o for o in objects if o.getNum() not in objectToDeleteIds]
                        objectToDeleteIds = []
                    # plot objects
                    for obj in objects:
                        if obj.existsAtInstant(frameNum):
                            if obj.getLastInstant() == frameNum:
                                objectToDeleteIds.append(obj.getNum())
                            if not hasattr(obj, 'projectedPositions'):
                                if homography is not None:
                                    obj.projectedPositions = obj.positions.project(homography)
                                else:
                                    obj.projectedPositions = obj.positions
                            cvPlot(img, obj.projectedPositions, cvColors[colorType][obj.getNum()], frameNum-obj.getFirstInstant())
                            if frameNum not in boundingBoxes.keys() and obj.hasFeatures():
                                imgcrop, yCropMin, yCropMax, xCropMin, xCropMax = imageBox(img, obj, frameNum, homography, width, height)
                                cv2.rectangle(img, (xCropMin, yCropMin), (xCropMax, yCropMax), cvBlue[colorType], 1)
                            objDescription = '{} '.format(obj.num)
                            if moving.userTypeNames[obj.userType] != 'unknown':
                                objDescription += moving.userTypeNames[obj.userType][0].upper()
                            if len(annotations) > 0: # if we loaded annotations, but there is no match
                                if frameNum not in toMatches[obj.getNum()]:
                                    objDescription += " FA"
                            cv2.putText(img, objDescription, obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, cvColors[colorType][obj.getNum()])
                    # plot object bounding boxes
                    if frameNum in boundingBoxes.keys():
                        for rect in boundingBoxes[frameNum]:
                            cv2.rectangle(img, rect[0].asint().astuple(), rect[1].asint().astuple(), cvColors[colorType][obj.getNum()])
                    # plot ground truth
                    if len(annotations) > 0:
                        for gt in annotations:
                            if gt.existsAtInstant(frameNum):
                                if frameNum in gtMatches[gt.getNum()]:
                                    color = cvColors[colorType][gtMatches[gt.getNum()][frameNum]] # same color as object
                                else:
                                    color = cvRed[colorType]
                                    cv2.putText(img, 'Miss', gt.topLeftPositions[frameNum-gt.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, color)
                                cv2.rectangle(img, gt.topLeftPositions[frameNum-gt.getFirstInstant()].asint().astuple(), gt.bottomRightPositions[frameNum-gt.getFirstInstant()].asint().astuple(), color)
                    # saving images and going to next
                    if not saveAllImages:
                        cvImshow(windowName, img, rescale)
                        key = cv2.waitKey()
                    if saveAllImages or saveKey(key):
                        cv2.imwrite('image-{{:0{}}}.png'.format(nZerosFilename).format(frameNum), img)
                    frameNum += nFramesStep
                    if nFramesStep > 1:
                        capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, frameNum)
            cv2.destroyAllWindows()
        else:
            print('Cannot load file ' + videoFilename)

    def computeHomographyFromPDTV(camera):
        '''Returns the homography matrix at ground level from PDTV camera
        https://bitbucket.org/hakanardo/pdtv'''
        # camera = pdtv.load(cameraFilename)
        srcPoints = [[x,y] for x, y in zip([1.,2.,2.,1.],[1.,1.,2.,2.])] # need floats!!
        dstPoints = []
        for srcPoint in srcPoints:
            projected = camera.image_to_world(tuple(srcPoint))
            dstPoints.append([projected[0], projected[1]])
        H, mask = cv2.findHomography(array(srcPoints), array(dstPoints), method = 0) # No need for different methods for finding homography
        return H

    def undistortedCoordinates(map1, map2, x, y, maxDistance = 1.):
        '''Returns the coordinates of a point in undistorted image
        map1 and map2 are the mapping functions from undistorted image
        to distorted (original image)
        map1(x,y) = originalx, originaly'''
        distx = npabs(map1-x)
        disty = npabs(map2-y)
        indices = logical_and(distx<maxDistance, disty<maxDistance)
        closeCoordinates = unravel_index(find(indices), distx.shape) # returns i,j, ie y,x
        xWeights = 1-distx[indices]
        yWeights = 1-disty[indices]
        return dot(xWeights, closeCoordinates[1])/npsum(xWeights), dot(yWeights, closeCoordinates[0])/npsum(yWeights)

    def undistortTrajectoryFromCVMapping(map1, map2, t):
        '''test 'perfect' inversion'''
        undistortedTrajectory = moving.Trajectory()
        for i,p in enumerate(t):
            res = undistortedCoordinates(map1, map2, p.x,p.y)
            if not isnan(res).any():
                undistortedTrajectory.addPositionXY(res[0], res[1])
            else:
                print('{} {} {}'.format(i,p,res))
        return undistortedTrajectory

    def computeInverseMapping(originalImageSize, map1, map2):
        'Computes inverse mapping from maps provided by cv2.initUndistortRectifyMap'
        invMap1 = -ones(originalImageSize)
        invMap2 = -ones(originalImageSize)
        for x in range(0,originalImageSize[1]):
            for y in range(0,originalImageSize[0]):
                res = undistortedCoordinates(x,y, map1, map2)
                if not isnan(res).any():
                    invMap1[y,x] = res[0]
                    invMap2[y,x] = res[1]
        return invMap1, invMap2

    def cameraIntrinsicCalibration(path, checkerBoardSize=[6,7], secondPassSearch=False, display=False):
        ''' Camera calibration searches through all the images (jpg or png) located
            in _path_ for matches to a checkerboard pattern of size checkboardSize.
            These images should all be of the same camera with the same resolution.

            For best results, use an asymetric board and ensure that the image has
            very high contrast, including the background. Suitable checkerboard:
            http://ftp.isr.ist.utl.pt/pub/roswiki/attachments/camera_calibration(2f)Tutorials(2f)StereoCalibration/check-108.png

            The code below is based off of:
            https://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html
            Modified by Paul St-Aubin
            '''
        import glob, os

        # termination criteria
        criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)

        # prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)
        objp = zeros((checkerBoardSize[0]*checkerBoardSize[1],3), float32)
        objp[:,:2] = mgrid[0:checkerBoardSize[1],0:checkerBoardSize[0]].T.reshape(-1,2)

        # Arrays to store object points and image points from all the images.
        objpoints = [] # 3d point in real world space
        imgpoints = [] # 2d points in image plane.

        ## Loop throuhg all images in _path_
        images = glob.glob(os.path.join(path,'*.[jJ][pP][gG]'))+glob.glob(os.path.join(path,'*.[jJ][pP][eE][gG]'))+glob.glob(os.path.join(path,'*.[pP][nN][gG]'))
        for fname in images:
            img = cv2.imread(fname)
            gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)

            # Find the chess board corners
            ret, corners = cv2.findChessboardCorners(gray, (checkerBoardSize[1],checkerBoardSize[0]), None)

            # If found, add object points, image points (after refining them)
            if ret:
                print('Found pattern in '+fname)
                
                if secondPassSearch:
                    corners = cv2.cornerSubPix(gray, corners, (11,11), (-1,-1), criteria)

                objpoints.append(objp)
                imgpoints.append(corners)

                # Draw and display the corners
                if display:
                    img = cv2.drawChessboardCorners(img, (checkerBoardSize[1],checkerBoardSize[0]), corners, ret)
                    if img is not None:
                        cv2.imshow('img',img)
                        cv2.waitKey(0)
            else:
                print('Pattern not found in '+fname)
        ## Close up image loading and calibrate
        cv2.destroyAllWindows()
        if len(objpoints) == 0 or len(imgpoints) == 0: 
            return False
        try:
            ret, camera_matrix, dist_coeffs, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)
        except NameError:
            return False
        savetxt('intrinsic-camera.txt', camera_matrix)
        return camera_matrix, dist_coeffs

    def undistortImage(img, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1., interpolation=cv2.INTER_LINEAR):
        '''Undistorts the image passed in argument'''
        width = img.shape[1]
        height = img.shape[0]
        [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
        return cv2.remap(img, map1, map2, interpolation=interpolation)


def printCvMat(cvmat, out = stdout):
    '''Prints the cvmat to out'''
    print('Deprecated, use new interface')
    for i in xrange(cvmat.rows):
        for j in xrange(cvmat.cols):
            out.write('{0} '.format(cvmat[i,j]))
        out.write('\n')

def projectArray(homography, points):
    '''Returns the coordinates of the projected points through homography
    (format: array 2xN points)'''
    if points.shape[0] != 2:
        raise Exception('points of dimension {0} {1}'.format(points.shape[0], points.shape[1]))

    if (homography is not None) and homography.size>0:
        #alternatively, on could use cv2.convertpointstohomogeneous and other conversion to/from homogeneous coordinates
        augmentedPoints = append(points,[[1]*points.shape[1]], 0)
        prod = dot(homography, augmentedPoints)
        return prod[0:2]/prod[2]
    else:
        return points

def project(homography, p):
    '''Returns the coordinates of the projection of the point p with coordinates p[0], p[1]
    through homography'''
    return projectArray(homography, array([[p[0]],[p[1]]]))

def projectTrajectory(homography, trajectory):
    '''Projects a series of points in the format
    [[x1, x2, ...],
    [y1, y2, ...]]'''
    return projectArray(homography, array(trajectory))

def invertHomography(homography):
    '''Returns an inverted homography
    Unnecessary for reprojection over camera image'''
    from numpy.linalg import inv
    invH = inv(homography)
    invH /= invH[2,2]
    return invH

def undistortTrajectory(invMap1, invMap2, positions):
    floorPositions = npfloor(positions)
    #ceilPositions = npceil(positions)
    undistortedTrajectory = [[],[]]
    for i in xrange(len(positions[0])):
        x,y = None, None
        if positions[0][i]+1 < invMap1.shape[1] and positions[1][i]+1 < invMap1.shape[0]:
            floorX = invMap1[floorPositions[1][i], floorPositions[0][i]]
            floorY = invMap2[floorPositions[1][i], floorPositions[0][i]]
            ceilX = invMap1[floorPositions[1][i]+1, floorPositions[0][i]+1]
            ceilY = invMap2[floorPositions[1][i]+1, floorPositions[0][i]+1]
            #ceilX = invMap1[ceilPositions[1][i], ceilPositions[0][i]]
            #ceilY = invMap2[ceilPositions[1][i], ceilPositions[0][i]]
            if floorX >=0 and floorY >=0 and ceilX >=0 and ceilY >=0:
                x = floorX+(positions[0][i]-floorPositions[0][i])*(ceilX-floorX)
                y = floorY+(positions[1][i]-floorPositions[1][i])*(ceilY-floorY)
        undistortedTrajectory[0].append(x)
        undistortedTrajectory[1].append(y)
    return undistortedTrajectory

def projectGInputPoints(homography, points):
    return projectTrajectory(homography, array(points+[points[0]]).T)

if opencvAvailable:
    def computeTranslation(img1, img2, img1Points, maxTranslation2, minNMatches, windowSize = (5,5), level = 5, criteria = (cv2.TERM_CRITERIA_EPS, 0, 0.01)):
        '''Computes the translation of img2 with respect to img1
        (loaded using OpenCV as numpy arrays)
        img1Points are used to compute the translation

        TODO add diagnostic if data is all over the place, and it most likely is not a translation (eg zoom, other non linear distortion)'''

        nextPoints = array([])
        (img2Points, status, track_error) = cv2.calcOpticalFlowPyrLK(img1, img2, img1Points, nextPoints, winSize=windowSize, maxLevel=level, criteria=criteria)
        # calcOpticalFlowPyrLK(prevImg, nextImg, prevPts[, nextPts[, status[, err[, winSize[, maxLevel[, criteria[, derivLambda[, flags]]]]]]]]) -> nextPts, status, err
        delta = []
        for (k, (p1,p2)) in enumerate(zip(img1Points, img2Points)):
            if status[k] == 1:
                dp = p2-p1
                d = npsum(dp**2)
                if d < maxTranslation2:
                    delta.append(dp)
        if len(delta) >= minNMatches:
            return median(delta, axis=0)
        else:
            print(dp)
            return None

if skimageAvailable:
    from skimage.feature import hog
    from skimage import color, transform
    
    def HOG(image, rescaleSize = (64, 64), orientations=9, pixelsPerCell=(8, 8), cellsPerBlock=(2, 2), visualize=False, normalize=False):
        bwImg = color.rgb2gray(image)
        inputImg = transform.resize(bwImg, rescaleSize)
        features = hog(inputImg, orientations, pixelsPerCell, cellsPerBlock, visualize, normalize)
        if visualize:
            from matplotlib.pyplot import imshow, figure, subplot
            hogViz = features[1]
            features = features[0]
            figure()
            subplot(1,2,1)
            imshow(inputImg)
            subplot(1,2,2)
            imshow(hogViz)
        return float32(features)

    def createHOGTrainingSet(imageDirectory, classLabel, rescaleSize = (64, 64), orientations=9, pixelsPerCell=(8, 8), cellsPerBlock=(2, 2), visualize=False, normalize=False):
        inputData = []
        for filename in listdir(imageDirectory):
            img = imread(imageDirectory+filename)
            features = HOG(img, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, visualize, normalize)
            inputData.append(features)

        nImages = len(inputData)
        return array(inputData, dtype = float32), array([classLabel]*nImages)

        
#########################
# running tests
#########################

if __name__ == "__main__":
    import doctest
    import unittest
    suite = doctest.DocFileSuite('tests/cvutils.txt')
    #suite = doctest.DocTestSuite()
    unittest.TextTestRunner().run(suite)
    #doctest.testmod()
    #doctest.testfile("example.txt")
