/*! \example tutorial-ibvs-4pts-wireframe-camera.cpp */
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/gui/vpProjectionDisplay.h>
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/robot/vpWireFrameSimulator.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/vs/vpServo.h>
#include <visp3/vs/vpServoDisplay.h>

void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point, const vpHomogeneousMatrix &cMo,
                        const vpCameraParameters &cam);

void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point, const vpHomogeneousMatrix &cMo,
                        const vpCameraParameters &cam)
{
  static std::vector<vpImagePoint> traj[4];
  vpImagePoint cog;
  for (unsigned int i = 0; i < 4; i++) {
    // Project the point at the given camera position
    point[i].project(cMo);
    vpMeterPixelConversion::convertPoint(cam, point[i].get_x(), point[i].get_y(), cog);
    traj[i].push_back(cog);
  }
  for (unsigned int i = 0; i < 4; i++) {
    for (unsigned int j = 1; j < traj[i].size(); j++) {
      vpDisplay::displayLine(I, traj[i][j - 1], traj[i][j], vpColor::green);
    }
  }
}

int main()
{
  try {
    vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
    vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));

    std::vector<vpPoint> point(4);
    point[0].setWorldCoordinates(-0.1, -0.1, 0);
    point[1].setWorldCoordinates(0.1, -0.1, 0);
    point[2].setWorldCoordinates(0.1, 0.1, 0);
    point[3].setWorldCoordinates(-0.1, 0.1, 0);

    vpServo task;
    task.setServo(vpServo::EYEINHAND_CAMERA);
    task.setInteractionMatrixType(vpServo::CURRENT);
    task.setLambda(0.5);

    vpFeaturePoint p[4], pd[4];
    for (unsigned int i = 0; i < 4; i++) {
      point[i].track(cdMo);
      vpFeatureBuilder::create(pd[i], point[i]);
      point[i].track(cMo);
      vpFeatureBuilder::create(p[i], point[i]);
      task.addFeature(p[i], pd[i]);
    }

    vpHomogeneousMatrix wMc, wMo;
    vpSimulatorCamera robot;
    robot.setSamplingTime(0.040);
    robot.getPosition(wMc);
    wMo = wMc * cMo;

    vpImage<unsigned char> Iint(480, 640, 0);
    vpImage<unsigned char> Iext(480, 640, 0);
#if defined(VISP_HAVE_X11)
    vpDisplayX displayInt(Iint, 0, 0, "Internal view");
    vpDisplayX displayExt(Iext, 670, 0, "External view");
#elif defined(VISP_HAVE_GDI)
    vpDisplayGDI displayInt(Iint, 0, 0, "Internal view");
    vpDisplayGDI displayExt(Iext, 670, 0, "External view");
#elif defined(HAVE_OPENCV_HIGHGUI)
    vpDisplayOpenCV displayInt(Iint, 0, 0, "Internal view");
    vpDisplayOpenCV displayExt(Iext, 670, 0, "External view");
#else
    std::cout << "No image viewer is available..." << std::endl;
#endif

    vpCameraParameters cam(840, 840, Iint.getWidth() / 2, Iint.getHeight() / 2);
    vpHomogeneousMatrix cextMo(0, 0, 3, 0, 0, 0);

    vpWireFrameSimulator sim;
    sim.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD);
    sim.setCameraPositionRelObj(cMo);
    sim.setDesiredCameraPosition(cdMo);
    sim.setExternalCameraPosition(cextMo);
    sim.setInternalCameraParameters(cam);
    sim.setExternalCameraParameters(cam);

    while (1) {
      robot.getPosition(wMc);
      cMo = wMc.inverse() * wMo;
      for (unsigned int i = 0; i < 4; i++) {
        point[i].track(cMo);
        vpFeatureBuilder::create(p[i], point[i]);
      }
      vpColVector v = task.computeControlLaw();
      robot.setVelocity(vpRobot::CAMERA_FRAME, v);

      sim.setCameraPositionRelObj(cMo);

      vpDisplay::display(Iint);
      vpDisplay::display(Iext);

      sim.getInternalImage(Iint);
      sim.getExternalImage(Iext);

      display_trajectory(Iint, point, cMo, cam);
      vpDisplay::flush(Iint);
      vpDisplay::flush(Iext);

      // A click in the internal view to exit
      if (vpDisplay::getClick(Iint, false))
        break;
      vpTime::wait(1000 * robot.getSamplingTime());
    }
  } catch (const vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
  }
}
