package com.yeyupiaoling.teststadiometry;

import android.annotation.SuppressLint;
import android.content.Intent;
import android.graphics.Bitmap;
import android.graphics.BitmapFactory;
import android.graphics.Matrix;
import android.os.Bundle;
import android.util.Log;
import android.widget.Button;
import android.widget.ImageView;
import android.widget.TextView;

import androidx.appcompat.app.AppCompatActivity;

import org.opencv.android.OpenCVLoader;

import java.io.IOException;

public class MainActivity extends AppCompatActivity {
    private static final String TAG = MainActivity.class.getName();
    private ImageView imageViewResult;
    private StereoBMUtil stereoBMUtil;
    private TextView textView;
    private Bitmap leftBitmap;
    private Bitmap rightBitmap;

    @SuppressLint("ClickableViewAccessibility")
    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);

        //初始化
        if (OpenCVLoader.initDebug()) {
            Log.d(TAG, "OpenCVLoader初始化成功");
        }

        stereoBMUtil = new StereoBMUtil();
        ImageView imageViewLeft = findViewById(R.id.imageViewLeft);
        ImageView imageViewRight = findViewById(R.id.imageViewRight);
        imageViewResult = findViewById(R.id.imageViewResult);
        textView = findViewById(R.id.result_tv);
        Button button = findViewById(R.id.button);
        Button button1 = findViewById(R.id.button1);

        // 加载图片
        try {
            leftBitmap = BitmapFactory.decodeStream(getAssets().open("Left3.bmp"));
            rightBitmap = BitmapFactory.decodeStream(getAssets().open("Right3.bmp"));
            imageViewLeft.setImageBitmap(leftBitmap);
            imageViewRight.setImageBitmap(rightBitmap);
        } catch (IOException e) {
            e.printStackTrace();
        }

        // 执行StereoBM算法
        button.setOnClickListener(v -> {
            try {
                Bitmap result = stereoBMUtil.compute(leftBitmap, rightBitmap);
                imageViewResult.setImageBitmap(result);
            } catch (Exception e) {
                e.printStackTrace();
            }
        });

        // 打开相机activity
        button1.setOnClickListener(v -> {
            Intent intent = new Intent(MainActivity.this, CameraActivity.class);
            startActivity(intent);
        });

        // 点击计算后的图片，获取三维坐标数据
        imageViewResult.setOnTouchListener((v, event) -> {
            // 获取触摸点的坐标 x, y
            float x = event.getX();
            float y = event.getY();
            // 目标点的坐标
            float[] dst = new float[2];
            Matrix imageMatrix = imageViewResult.getImageMatrix();
            Matrix inverseMatrix = new Matrix();
            imageMatrix.invert(inverseMatrix);
            inverseMatrix.mapPoints(dst, new float[]{x, y});
            int dstX = (int) dst[0];
            int dstY = (int) dst[1];
            // 获取该点的三维坐标
            double[] c = stereoBMUtil.getCoordinate(dstX, dstY);
            String s = String.format("点(%d, %d) 三维坐标：[%.2f, %.2f, %.2f]", dstX, dstY, c[0], c[1], c[2]);
            Log.d(TAG, s);
            textView.setText(s);
            return true;
        });
    }
}