/*
 * This file is part of Pastie
 *
 * Pastie is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * any later version.
 *
 * Pastie is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Pastie. If not, see <http://www.gnu.org/licenses/>.
 */
/**
 * @copyright  2015 Steffen Vogel
 * @license	   http://www.gnu.org/licenses/gpl.txt GNU Public License
 * @author     Steffen Vogel <steffen.vogel@rwth-aachen.de>
 * @link       http://www.steffenvogel.de
 */

#include "mainwindow.h"
#include <QApplication>
#include <QCameraInfo>

#include "filters.h"
#include "imagelist.h"
#include "filterlist.h"
#include "source.h"
#include "camera.h"
#include "robot.h"

Source *source;
Camera *cam;
Robot *robot;
FilterList *filters;
ImageList *images;
MainWindow *mwindow;

int main(int argc, char *argv[])
{
	QApplication a(argc, argv);

	QList<QCameraInfo> cameras = QCameraInfo::availableCameras();
	foreach (const QCameraInfo &cameraInfo, cameras)
		qDebug() << "Found Qt camera: " << cameraInfo.deviceName() << ": " << cameraInfo.description();

	source = new Source;
	cam = new Camera(source);
	filters = new FilterList;
	images = new ImageList;

	QStringList imgs = QCoreApplication::arguments();
	imgs.removeFirst();
	imgs.removeDuplicates();
	images->load(imgs);

	/* Setup pipeline */
	Pattern *pattern = new Pattern(Size(2, 2), Size(60, 60), Pattern::QUADRILINEAR_MARKERS);
	PadDetect *pads = new PadDetect();
	PadFilter *filter = new PadFilter(pads);
	PathPlanner *planner = new PathPlanner(filter, PathPlanner::REPETETIVE_NEAREST_NEIGHBOUR);

	filters->append(pattern);
	filters->append(new Perspective(cam, pattern));
	filters->append(new Resize(Range<int>(400, 1000)));
	filters->append(new Blur(Blur::GAUSSIAN, Size(3, 3)));
	filters->append(new KMeans(4));
	filters->append(new Convert(COLOR_BGR2GRAY));
	filters->append(new Threshold(Threshold::OTSU));
	filters->append(new Morph(MORPH_CLOSE, MORPH_RECT));
	filters->append(pads);
	filters->append(filter);
	filters->append(planner);

	robot = new Robot(pattern, planner);
	mwindow = new MainWindow;

	mwindow->show();

	return a.exec();
}