/**
* This file is part of DSO.
* 
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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
* (at your option) any later version.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/



#include "IOWrapper/ImageRW.h"
#include <opencv2/highgui/highgui.hpp>


namespace dso {

  namespace IOWrap {
    MinimalImageB *readImageBW_8U(std::string filename) {
      cv::Mat m = cv::imread(filename, CV_LOAD_IMAGE_GRAYSCALE);
      if (m.rows * m.cols == 0) {
        printf("cv::imread could not read image %s! this may segfault. \n", filename.c_str());
        return 0;
      }
      if (m.type() != CV_8U) {
        printf("cv::imread did something strange! this may segfault. \n");
        return 0;
      }
      MinimalImageB *img = new MinimalImageB(m.cols, m.rows);
      memcpy(img->data, m.data, m.rows * m.cols);
      return img;
    }

    MinimalImageB3 *readImageRGB_8U(std::string filename) {
      cv::Mat m = cv::imread(filename, CV_LOAD_IMAGE_COLOR);
      if (m.rows * m.cols == 0) {
        printf("cv::imread could not read image %s! this may segfault. \n", filename.c_str());
        return 0;
      }
      if (m.type() != CV_8UC3) {
        printf("cv::imread did something strange! this may segfault. \n");
        return 0;
      }
      MinimalImageB3 *img = new MinimalImageB3(m.cols, m.rows);
      memcpy(img->data, m.data, 3 * m.rows * m.cols);
      return img;
    }

    MinimalImage<unsigned short> *readImageBW_16U(std::string filename) {
      cv::Mat m = cv::imread(filename, CV_LOAD_IMAGE_UNCHANGED);
      if (m.rows * m.cols == 0) {
        printf("cv::imread could not read image %s! this may segfault. \n", filename.c_str());
        return 0;
      }
      if (m.type() != CV_16U) {
        printf("readImageBW_16U called on image that is not a 16bit grayscale image. this may segfault. \n");
        return 0;
      }
      MinimalImage<unsigned short> *img = new MinimalImage<unsigned short>(m.cols, m.rows);
      memcpy(img->data, m.data, 2 * m.rows * m.cols);
      return img;
    }

    MinimalImageB *readStreamBW_8U(char *data, int numBytes) {
      cv::Mat m = cv::imdecode(cv::Mat(numBytes, 1, CV_8U, data), CV_LOAD_IMAGE_GRAYSCALE);
      if (m.rows * m.cols == 0) {
        printf("cv::imdecode could not read stream (%d bytes)! this may segfault. \n", numBytes);
        return 0;
      }
      if (m.type() != CV_8U) {
        printf("cv::imdecode did something strange! this may segfault. \n");
        return 0;
      }
      MinimalImageB *img = new MinimalImageB(m.cols, m.rows);
      memcpy(img->data, m.data, m.rows * m.cols);
      return img;
    }


    void writeImage(std::string filename, MinimalImageB *img) {
      cv::imwrite(filename, cv::Mat(img->h, img->w, CV_8U, img->data));
    }

    void writeImage(std::string filename, MinimalImageB3 *img) {
      cv::imwrite(filename, cv::Mat(img->h, img->w, CV_8UC3, img->data));
    }

    void writeImage(std::string filename, MinimalImageF *img) {
      cv::imwrite(filename, cv::Mat(img->h, img->w, CV_32F, img->data));
    }

    void writeImage(std::string filename, MinimalImageF3 *img) {
      cv::imwrite(filename, cv::Mat(img->h, img->w, CV_32FC3, img->data));
    }

  }

}
