// VideoTool.cpp : Defines the entry point for the console application.

#include <stdlib.h>
#include <stdio.h>
#include <iostream>
#include <fstream>
#include <string>
#include <tchar.h>
#include <math.h>
#include <time.h>
#include <cassert>
#include <vector>
// TODO: reference additional headers your program requires here

#include "cv.h"
#include "highgui.h"

bool alreadyHaveIt(int j,int imageIndices[12]);

// ARGH! why is this necessary ??
#define _NO_HMC_WINSOCK_
#include "SmallSocket.h"
#undef _NO_HMC_WINSOCK_

using namespace std;

// Our Globals!

double Hue_Min = -.1;
double Hue_Max = .5;
double Sat_Min = .12;
double Sat_Max = .99;
double Val_Min = .04;
double Val_Max = .99;
double Val_Dist_Max = 2;
double Val_Dist_Min = .5;

int R_Min = 20;

// these are the two functions you'll need to write
void RGBtoHSV( double r, double g, double b, double *h, double *s, double *v );
void makeVerticalCut(IplImage* frame, IplImage* f_p, int x, int ymin, int ymax, int* color, int* transitions);
void makeHorizontalCut(IplImage* frame, IplImage* f_p, int y, int xmin, int xmax, int* x1, int* transitions);
int colorOf(double h, double s, double v);
struct Card processCard(IplImage* frame, IplImage* f_p);
int getColor(double r, double g, double b, double sat);
double getIntensity(IplImage* frame, int x, int y, int cardColor);
void playSet();
bool isASet(struct Card i, struct Card j, struct Card k);
bool isValid(int sum);
void highlight(IplImage* frame);
void safe(uchar* pix);
void printCard(struct Card c);

// globals for tuning parameters by keyboard...
static int blueValue = 255;
double redHueMin = 330;
double redHueMax = 30;
double satMin = .3;
double valMin = .1;

double greenHueMin = 90;
double greenHueMax = 150;

double purpleHueMin = 210;
double purpleHueMax = 270;

// these are close, but not quite right
double clearThreshold = 75;
double shadedThreshold = 25;

static int MAX_DIST = 3;
static int MAX_ERROR = 100;

typedef enum
{
	RED = 0, 
	GREEN,
	PURPLE,
	SOLID,
	SHADED,
	CLEAR,
	DIAMOND,
	OVAL,
	SQUIGGLE,
	OMFGWEFUCKEDUP
};

struct Card
{
	int number, color, shape, texture, index;
};


void setGlobals();  // the code appears at the very bottom of this file

char wndname[] = "VideoTool";
char wndname2[] = "Undistorted image";
char wndname3[] = "Painted image";

char *setwnd[] = {"set0","set1","set2","set3","set4","set5","set6","set7","set8","set9","set10","set11"};

// here, static refers to the fact that these variables
// are local to this file (they're not available in other files,
// which is safer because it allows reuse of their names)
static CvSize imageSize;
static CvPoint old_click_pt;
static CvPoint new_click_pt;
static double framenum;

// global points for drawing boxes, defining loops, etc.
static CvPoint pt1; 
static CvPoint pt2; 
static CvPoint pt3;
static CvPoint pt4;
static CvPoint pt5;
static CvPoint pt6;
static CvPoint pt7;

// global calibration data
static float* M; 
static float* D;

// more global variables
// these are simply recording all the different states you
// can put the program in via the keyboard
static bool bmpRecording = false;
static bool capturing = true;
static bool getImageFromFile = false;
static bool getImageAgainFromFile = false;
static bool getImage0FromVideoBMPs = false;
static bool saveNextImage = false;
static bool quittingTime = false;
static bool detectRed = false;
static bool showing_savedImage = false;
static bool saveOnlyOneImageToFile = true;
static bool firstTimeForSet = true;

static char* filename = new char[150];
static char* filename2 = new char[150];
static int frameNumber = 0;
static int keyCode = -1;

// pointers to images in memory
static IplImage *frame;
static IplImage* undis_frame;
static IplImage* undis_frame_painted;

static IplImage** setimages;
static CvArr* undisMap;

// handle mouse clicks here
void mouse_callback(int event, int x, int y, int flags)
{
	if (event == CV_EVENT_LBUTTONDOWN)
	{
		// cout << "(x,y) = (" << x << "," << y << ")" << endl;

		// reset old_click_pt
		old_click_pt.x = new_click_pt.x;
		old_click_pt.y = new_click_pt.y;

		// get new click point -- note the coordinate change in y
		new_click_pt.x = x;  // coming in from the window system
		new_click_pt.y = imageSize.height-y;  // window system and images have different y axes
	}
}

// print pixel information
void pixelInformation(IplImage* f)
{
	if (f == NULL) return;

	// see if things have changed...
	if (new_click_pt.x != old_click_pt.x || new_click_pt.y != old_click_pt.y) // has it changed?
	{
		if (new_click_pt.x < 0 || new_click_pt.x > 319 || new_click_pt.y < 0 || new_click_pt.y > 239) return;
		// draw a line from old to new
		// cvLine(frame,old_click_pt,new_click_pt,CV_RGB(255,0,0),/*thickness*/1,/*connectivity*/8);
		// set the old = the new
		old_click_pt.x = new_click_pt.x;
		old_click_pt.y = new_click_pt.y;
		// print the RGB values and coordinates of the newly clicked point:
		// note that blue is #0, green is #1, and red is #2 !!

		/* note that this uses the undistorted frame right here... */

		// this is insane!!!
		// see the processRed function for an explanation
		// of why we need "realy"
		int realy = new_click_pt.y;
		if (getImageAgainFromFile || getImageFromFile) 
		{
			realy = imageSize.height - realy;
		}
		uchar* pixel = cvPtr2D(f,realy,new_click_pt.x);

		cout << "(x,y) = (" << new_click_pt.x << "," << new_click_pt.y << ") with (r,g,b) = ("
			 << (int)(pixel[2]) << "," << (int)(pixel[1]) << "," << (int)(pixel[0]) << ")";

		double hue,sat,val;
		RGBtoHSV((double)pixel[2],(double)pixel[1],(double)pixel[0],&hue,&sat,&val);

		cout << " and (h,s,v) = (" << hue << "," << sat << "," << val << ")" << endl;
	}
}

// the thread for the server
DWORD WINAPI ThreadFunc( LPVOID lpParam ) 
{ 
   	char recvbuf[80];
	char sendbuf[80];

	string t("HI");
	SmallSocket SS(SmallSocket::SERVER);

    sprintf( recvbuf, "Server Started", *(DWORD*)lpParam ); 
    //MessageBox( NULL, szMsg, "ThreadFunc", MB_OK );
	
	while (true)
	{
		SS.receive(recvbuf,80);
		cout << "Received: " << recvbuf << endl;
		
		if (recvbuf[0] == 'q') {
			SS.sendout("q",2);
			// set a variable that tells it to quit...
			quittingTime = true;
		    // cvReleaseCapture( &capture );
			//	cvDestroyWindow("result");
			break;
		}

		if (recvbuf[0] == 'e') {
			// just an example of passing in more information
			// and using sscanf to extract it
			// sscanf(recvbuf,"q %lf %lf %lf ",&savedXforLog,&savedYforLog,&savedTforLog);
			//
			//the connection requires that something come back...
			// note that we're sending two zeros every time here...
			sprintf(sendbuf, "%d %d", 0, 0);
			SS.sendout(sendbuf,80);
		}

		// pause for a bit...
		Sleep(10);
	}

    return 0; 

} 


int main( int argc, char** argv )
{
	// in case you want to log things...
	//ofstream logfile("logfile_out.txt");
	//ifstream loginfile("logfile_in.txt");

	// set up the globals...
	setGlobals();

	// start the server's thread 
	// make sure that all imageprocessing is in main's thread
	DWORD dwThreadId, dwThrdParam = 1; 
    HANDLE hThread; 
    char szMsg[80];

    hThread = CreateThread( 
        NULL,                        // default security attributes 
        0,                           // use default stack size  
        ThreadFunc,                  // thread function 
        &dwThrdParam,                // argument to thread function 
        0,                           // use default creation flags 
        &dwThreadId);                // returns the thread identifier 
 
    // Check the return value for success. 
    if (hThread == NULL) 
    {
        sprintf( szMsg, "CreateThread failed." ); 
        MessageBox( NULL, szMsg, "main", MB_OK );
    }

	/* 
	 * set up the video windows
	 */


	for (int i=0 ; i<12 ; ++i)
		cvNamedWindow( setwnd[i], CV_WINDOW_AUTOSIZE );

	cvNamedWindow( wndname, CV_WINDOW_AUTOSIZE );
	cvNamedWindow( wndname3, CV_WINDOW_AUTOSIZE );
	cvNamedWindow( wndname2, CV_WINDOW_AUTOSIZE );

	/*
	 * set up the mouse input
	 */
	//cvSetMouseCallback( wndname, mouse_callback );
	cvSetMouseCallback( wndname2, mouse_callback );

	/*
	 * more camera-specific stuff
	 */
	CvCapture* capture = 0;
	capture = cvCaptureFromCAM(0);

	// this is allocating the undis_frame once (it will get written each time)
	// get one frame and then copy it...
	if (cvGrabFrame(capture)) 
	{
		frame = cvRetrieveFrame( capture );
		undis_frame = cvCloneImage(frame);
		undis_frame_painted = cvCloneImage(frame);
		// now let's set up the undistortion parameters
		// note that the docs say 3*wider, but that did not work
		// 3*wider _and_ 3*higher worked...
		undisMap = cvCreateMat( imageSize.width*3, imageSize.height*3, CV_32SC3 );
		// need to release this at the end of the program...
		cvUnDistortInit( frame, undisMap, M, D, 1 );
	}
	else
	{
		cout << "No camera??" << endl;
		capturing = false;
	}

	// main loop
	while (!quittingTime)
    {
		if (capturing)
		{
			if( !cvGrabFrame( capture ))   break;
			frame = cvRetrieveFrame( capture );
			if( !frame ) break;

			// cvUnDistortOnce( frame, undis_frame, M, D, 1 );  // might take some extra time...
			cvUnDistort( frame, undis_frame, undisMap, 1 );
			cvReleaseImage(&undis_frame_painted);
			undis_frame_painted = cvCloneImage(undis_frame);
		}
		else if (getImageFromFile || getImageAgainFromFile)
		{
			if (getImageFromFile) {
				// ask for a frame filename
				int i;
				// should factor this path out!!
				if (getImage0FromVideoBMPs) { 
					i = 0;
					getImage0FromVideoBMPs = false;
				}
				else {
					cout << "What image number (in C:\\Program Files\\ERSP\\sample_code\\driver\\VideoTool\\VideoBMPs): ";
					cin >> i;
				}
				sprintf(filename2,"C:\\Program Files\\ERSP\\sample_code\\driver\\VideoTool\\VideoBMPs\\image%05d.bmp",i);
				// we probably need to release the images returned by cvLoadImage somewhere...
				//frame = cvLoadImage(filename2);
				//undis_frame = cvCloneImage(frame);
				cvReleaseImage(&undis_frame);
				undis_frame = cvLoadImage(filename2);
				cvReleaseImage(&undis_frame_painted);
				undis_frame_painted = cvLoadImage(filename2);
				if (undis_frame == NULL) {
					cout << "Could not find that image.\n";
					continue;
				}
				getImageFromFile = false;
				getImageAgainFromFile = true;
				
			}
			else if (getImageAgainFromFile) {
				cvReleaseImage(&undis_frame_painted);
				undis_frame_painted = cvCloneImage(undis_frame);
			}
		}
		else
		{
			;
		}

		// click only on undis_image
		pixelInformation(undis_frame_painted);

		// save the images to a file, if desired
		if (bmpRecording == true && capturing == true)
		{
			sprintf(filename,"C:\\Program Files\\ERSP\\sample_code\\driver\\VideoTool\\BMPs\\image%05d.bmp",frameNumber);
			cout << "Captured single image (dist): " << filename <<  endl;
			cvSaveImage(filename,frame);
			sprintf(filename2,"C:\\Program Files\\ERSP\\sample_code\\driver\\VideoTool\\BMPsUnd\\image%05d.bmp",frameNumber);
			cout << "Captured single image (undist): " << filename2 <<  endl;
			cvSaveImage(filename2,undis_frame);
			++frameNumber;
			//saveNextImage = false;
		    //if (getImageFromFile) {
			//	bmpRecording = false; 
			//}

			if (saveOnlyOneImageToFile == true)
			{
				bmpRecording = false;
			}
		}

		// here we can add graphics to each frame
		// in order that they show up on the screen
		// we also decide what to display in this routine
		if (detectRed)
		{
			//processCard(undis_frame, undis_frame_painted);
			playSet();
			detectRed = false;
		}
		/*
		 * display everything in the windows
		 */
		cvShowImage(wndname, frame);
		cvShowImage(wndname2, undis_frame);
		cvShowImage(wndname3, undis_frame_painted);

		//handle key presses
		/*
		 * quits
		 */
		if( (keyCode = cvWaitKey( 10 )) == ((int)'q') ) {          
			break;                       // quit everything
		}
		/*
		 * we use = and - to increase and decrease blueValue
		 */
		else if (keyCode == (int)'=') {
			if (blueValue < 251) blueValue += 5;
		}
		else if (keyCode == (int)'-') {
			if (blueValue > 4) blueValue -= 5;
		}
		else if (keyCode == (int)'1') {
			if(Hue_Max - .01 >= -.5) Hue_Max -= .01;
		}
		else if (keyCode == (int)'2') {
			if(Hue_Max + .01 <= 1.0) Hue_Max += .01;
		}
		else if (keyCode == (int)'3') {
			if(Sat_Max - .01 >= 0) Sat_Max -= .01;
		}
		else if (keyCode == (int)'4') {
			if(Sat_Max + .01 <= 1.0) Sat_Max += .01;
		}
		else if (keyCode == (int)'5') {
			if(Val_Max - .01 >= 0) Val_Max -= .01;
		}
		else if (keyCode == (int)'6') {
			if(Val_Max + .01 <= 1.0) Val_Max += .01;
		}
		else if (keyCode == (int)'!') {
			if(Hue_Min - .01 >= -.5) Hue_Min -= .01;
		}
		else if (keyCode == (int)'@') {
			if(Hue_Min + .01 <= 1.0) Hue_Min += .01;
		}
		else if (keyCode == (int)'#') {
			if(Sat_Min - .01 >= 0) Sat_Min -= .01;
		}
		else if (keyCode == (int)'$') {
			if(Sat_Min + .01 <= 1.0) Sat_Min += .01;
		}
		else if (keyCode == (int)'%') {
			if(Val_Min - .01 >= 0) Val_Min -= .01;
		}
		else if (keyCode == (int)'^') {
			if(Val_Min + .01 <= 1.0) Val_Min += .01;
		}
		else if (keyCode == (int)'0'){
			if(Val_Dist_Max +.1 <=3.0) Val_Dist_Max +=.1;
		}
		else if (keyCode == (int)'9'){
			if(Val_Dist_Max -.1 >=0.0) Val_Dist_Max -=.1;
		}
		else if (keyCode == (int)')'){
			if(Val_Dist_Min +.1 <=1.0) Val_Dist_Min +=.1;
		}
		else if (keyCode == (int)'('){
			if(Val_Dist_Min -.1 >=0.0) Val_Dist_Min -=.1;
		}
		else if (keyCode == (int)'7'){
			if(R_Min - 5 >= 0) R_Min -=5;
		}
		else if (keyCode == (int)'8'){
			if(R_Min + 5 <= 255) R_Min +=5;
		}
		else if (keyCode == (int)'p') {
			cout << "Hue_Max: " << Hue_Max << " Hue_Min: " << Hue_Min << endl;
			cout << "Sat_Max: " << Sat_Max << " Sat_Min: " << Sat_Min << endl;
			cout << "Val_Max: " << Val_Max << " Val_Min: " << Val_Min << endl;
			cout << "Val_Dist_Max: " << Val_Dist_Max << "Val_Dist_Min" << Val_Dist_Min << endl;
			cout << "R_Min: " << R_Min << endl;
		}
	    /*
		 * plays the game of Set
		 */
		else if (keyCode == (int)'S') {                           
			capturing = false;
			getImageFromFile = false;
			char filenameset[500]; // for filename...

			/* is this the first play? -- we need to open 12 windows... */
			if (firstTimeForSet == true)
			{
				srand( (unsigned)time( NULL ) );

				cout << "Setting up set!" << endl;
				setimages = new IplImage*[12]; // should delete this somewhere...
				for (int i=0 ; i<12 ; ++i)
				{
				    sprintf(filenameset,"C:\\Program Files\\ERSP\\sample_code\\driver\\VideoTool\\VideoBMPs\\image%05d.bmp",i);
					//cvReleaseImage(&undis_frame);
					setimages[i] = cvLoadImage(filenameset); // load image0 12 times.
					cout << "Setting up window " << i << " named " << setwnd[i] << endl;
					cvShowImage(setwnd[i], setimages[i]);
				}

				firstTimeForSet = false;
			}
			else {
				cout << "Reading in random images..." << endl;
				int imageIndices[12];
				for (int i=0 ; i<12 ; ++i) { imageIndices[i] = -1; }

				for (int i=0 ; i<12 ; ++i)
				{
					cout << "i is " << i << endl;


					while (1) {
						int randImage = (int)(81.0*rand()/RAND_MAX);
						if (randImage < 0 || randImage > 80) continue;
						cout << "  randImage is " << randImage << endl;
						bool b = alreadyHaveIt(randImage,imageIndices);
						if (!b)
						{
						   imageIndices[i] = randImage;
						}
						else
						{
							cout << "Have it ";
							for (int i=0 ; i<12 ; ++i)
								cout << imageIndices[i] << " ";
							cout << endl;
							continue;
						}
						break;
					}

					sprintf(filenameset,"C:\\Program Files\\ERSP\\sample_code\\driver\\VideoTool\\VideoBMPs\\image%05d.bmp",imageIndices[i]);
					//cvReleaseImage(&(setimages[i]));
					setimages[i] = cvLoadImage(filenameset); // load image0 12 times.
					cout << "Setting up window " << i << " named " << setwnd[i] << " with image #" << imageIndices[i] << endl;
					cvShowImage(setwnd[i], setimages[i]);
				}
			}
		} 
		/*
		 * records video to bitmaps (files)
		 */
		else if (keyCode == (int)'f') {                           
			if (bmpRecording) {
				cout << "Stopping the writing to bitmaps\n";
				bmpRecording = false;
			} else {
				cout << "Starting to write to bitmaps\n";
				bmpRecording = true;
			}
			showing_savedImage = false;
		} 
		/*
		 * gets image from a file # in ./VideoBMPs
		 */
		else if (keyCode == (int)'g') {
			cout << "Getting image from file.\n";
			capturing = false;
			getImageFromFile = true;
			getImageAgainFromFile = false;
			bmpRecording = false;
			saveNextImage = false;
			showing_savedImage = true;
		} 
		/*
		 * toggle continuous video
		 */
		else if (keyCode == (int)'s') {
			if (capturing) {
				cout << "Stopping continuous capturing.\n";
				capturing = false;
				getImageFromFile = false;
			}
			else {
				cout << "Starting continuous capturing.\n";
				capturing = true;
				getImageFromFile = false;
				getImageAgainFromFile = false;
				/* reset undis_image */
				// note this assumes that everything went well
				// initially with the first captured frame... !!
				cvReleaseImage(&undis_frame);
				undis_frame = cvCloneImage(frame);
				cvReleaseImage(&undis_frame_painted);
				undis_frame_painted = cvCloneImage(frame);
				// not to mention that these transition images have to be released!
			}
			showing_savedImage = false;
		} 
		else if (keyCode == (int)'e') {
			// emulate server behavior
			saveNextImage = true;
			showing_savedImage = false;
		} 
		/*
		 * toggle finding red (and displaying)
		 */
		else if (keyCode == (int)'r') {
			detectRed = !detectRed;
		}
		/*
		 * the spacebar advances the image in the VideoBMPs directory
		 */
		else if (keyCode == (int)' ') {
			if (showing_savedImage == true)
			{
				int i;
				sscanf(filename2,"C:\\Program Files\\ERSP\\sample_code\\driver\\VideoTool\\VideoBMPs\\image%05d.bmp",&i);
				sprintf(filename2,"C:\\Program Files\\ERSP\\sample_code\\driver\\VideoTool\\VideoBMPs\\image%05d.bmp",++i);
				cvReleaseImage(&undis_frame);
				undis_frame = cvLoadImage(filename2);
				cvReleaseImage(&undis_frame_painted);
				undis_frame_painted = cvLoadImage(filename2);

				// wrap around!
				if (undis_frame == NULL) 
				{
					i = 0;
					sprintf(filename2,"C:\\Program Files\\ERSP\\sample_code\\driver\\VideoTool\\VideoBMPs\\image%05d.bmp",i);
					cvReleaseImage(&undis_frame);
					undis_frame = cvLoadImage(filename2);
					cvReleaseImage(&undis_frame_painted);
					undis_frame_painted = cvLoadImage(filename2);
					
					continue;
				}

				cout << "Getting image " <<  i << " from VideoBMPs.\n";
				getImageAgainFromFile = true;
				getImageFromFile = false;
			}
			/*
			 * initial hit of the space bar...
			 */
			else {
				cout << "No image from file is currently showing..." << endl;
				cout << "Getting image 0 from VideoBMPs.\n";
				capturing = false;
				getImageFromFile = true;
				getImageAgainFromFile = false;
				getImage0FromVideoBMPs = true;
				bmpRecording = false;
				saveNextImage = false;
				showing_savedImage = true;
			}
		}
		
	}

	// release things before quitting
    cvReleaseCapture( &capture );
	cvDestroyWindow("result");

} // end of main

bool alreadyHaveIt(int j,int imageIndices[12])
{
	for (int i=0 ; i<12 ; ++i)
	{
		if (imageIndices[i] == j) return true;
	}
	return false;
}

// just in case you'd like to use these...
inline double mymin(double a, double b) { return a<b?a:b; }

inline double mymax(double a, double b) { return a>b?a:b; }

// read about HSV at http://en.wikipedia.org/wiki/HSV_color_space
// and http://www.cs.rit.edu/~ncs/color/t_convert.html#RGB%20to%20HSV%20&%20HSV%20to%20RGB
//
// feel free to grab code from above or elsewhere online, if you'd like
// be sure you understand what RANGE _your_ code for HSV is "returning"
// in the h, s, and v pointers...
void RGBtoHSV( double r, double g, double b, double *h, double *s, double *v )
{
	double maxRGB;
	double minRGB;
	double delta;

	// get max and min
	if(r >= g && r >= b)
	{
		maxRGB = r;
		if(g >= b)
			minRGB = b;
		else
			minRGB = g;
	}
	else if(g >= b)
	{
		maxRGB = g;
		if(r >= b)
			minRGB = b;
		else
			minRGB = r;
	}
	else
	{
		maxRGB = b;
		if(r >= g)
			minRGB = g;
		else
			minRGB = r;
	}

	delta = maxRGB - minRGB;
	*v = maxRGB/255.0;

	if (maxRGB <= 0.0)
	{
		*h = -1;
		*s = 0;
		return;
	}

	*s = delta/maxRGB;   // better scaling than 255!
	if(delta == 0)
	{
		*h = -1;
		return;
	}

	if(r == maxRGB)
		*h = (g - b)/delta;
	else if (g == maxRGB)
		*h = (1.0/3.0) + (b-r)/delta;
	else
		*h = (2.0/3.0) + (r-g)/delta;
}

struct Card processCard(IplImage* frame, IplImage* f_p)
{
	//First, make a vertical cut down the middle
	CvPoint c1, c2;
	c1.x = 0;
	c1.y = 0;
	c2.x = 320;
	c2.y = 240;
	int x = (c2.x - c1.x) / 2 + c1.x;
//	for(int x = 0; x < 320; ++x)
//	{
		int cardColor, transitions;

		// sets color and transitions (most of the time)
		makeVerticalCut(frame, f_p, x, c1.y, c2.y, &cardColor, &transitions);

		//cout << "Cut's color is " << cardColor << " and transitions is " << transitions << endl;
		int texture, number, dummy, shape;
		//cout << "Transitions: " << transitions << endl;

		// sets number
		if (transitions > 1)
		{
			makeVerticalCut(frame, f_p, 11.0/14*c2.x, c1.y, c2.y, &dummy, &transitions);

			if (transitions > 1)
			{
				number = 3;
				if (dummy != cardColor)
					cardColor = dummy;
			}
			else
				number = 1;
		}
		else
		{
			number = 2;
			makeVerticalCut(frame, f_p, 9.0/14*c2.x, c1.y, c2.y, &cardColor, &transitions);
		}

		// sets texture
		double sumIntensity = 0;

		if (number == 2) // take patch to side
		{
			for (int x = -5; x <= 5; ++x)
			{
				int xBox = 9.0/14*c2.x + x; // offset by x from middle of shape
				for (int y = 115; y <= 125; ++y)
				{
					double i = getIntensity(frame, xBox, y, cardColor); // returns avg of the two colors that the shape isn't
					uchar* painted = cvPtr2D(f_p, y, xBox);
					painted[0] = 50;
					painted[1] = 0;
					painted[2] = 100;

					sumIntensity += i;
				}
			}
		}
		else // take patch in middle
		{
			for (int x = -5; x <= 5; ++x)
			{
				int xBox = 7.0/14*c2.x + x; // offset by x from middle of shape
				for (int y = 115; y <= 125; ++y)
				{
					double i = getIntensity(frame, xBox, y, cardColor); // returns avg of the two colors that the shape isn't
					uchar* painted = cvPtr2D(f_p, y, xBox);
					painted[0] = 50;
					painted[1] = 0;
					painted[2] = 100;

					sumIntensity += i;
				}
			}
		}

		double avgIntensity = sumIntensity / 121; // 121 pixels in the 11x11 patch we are sampling
		if (avgIntensity > clearThreshold)
			texture = CLEAR;
		else if (avgIntensity > shadedThreshold)
			texture = SHADED;
		else
			texture = SOLID;
        
		/*cout << "Color: " << cardColor << " Number: " << number << " Texture: ";
		switch(texture)
		{
			case 3:
				cout << "Solid" << endl;
				break;
			case 4:
				cout << "Shaded" << endl;
				break;
			case 5:
				cout << "Clear" << endl;
				break;
		}*/
		// sets shape
		shape = -1;
		vector<int> line_x;
		int numLines = 7;
		for(int index = 0; index < numLines; ++index)
			line_x.push_back(0);
		for (int index = 0; index < numLines; ++index)
		{
			makeHorizontalCut(frame, f_p, 190 - (index/11.0)*c2.y, c1.x, c2.x, &line_x[index], &transitions);
		}

		double tolerance = 2.5;
		int correct = 0;
		int localThreshold = 20;
		int min = 320;

		// only look for min on the inner 5 lines (ignore the top and bottom lines)
		for (int j = 1; j < numLines-1; ++j)
		{
			if (line_x[j] != -1) // if no first transition, then ignore, because x value is -1
			{
				if (line_x[j] < min)
					min = line_x[j];
			}
		}

		double sum  = 0.0;
		int linesSummed = 0;
		for (int j = 1; j < numLines-1; ++j)
		{
			if (line_x[j] != -1) // if no first transition, then ignore, because x value is -1
			{
				if (line_x[j] < min + localThreshold && line_x[j] > min - localThreshold) // used to stop from measuring transitions on wrong part of shape
				{
					sum += line_x[j] - min;
					++linesSummed;
				}
			}
		}

		//test used to determine what case is causing a triangle to be a squiggle
		//cout << (line_x[1] > line_x[2]) << (line_x[5] > line_x[4]) << (line_x[3] < line_x[2]) << (line_x[0] > line_x[1]) << endl;

		//test used to determine what tolerance should be
		//cout << "min: " << min << ", sum: " << sum << ", linesSummed: " << linesSummed << ", sum/linesSummed: " << sum/linesSummed;

		//test used to print the x location of the first transitions for each line
		//cout << "min: " << min;
		//for (int j = 1; j < numLines-1; ++j)
		//	cout << ", line " << j << " " << line_x[j];
		//cout << endl;
		
		if ((sum/linesSummed) < tolerance)
		{
			shape = OVAL;
		}
		else if (line_x[1] > line_x[2] && line_x[5] > line_x[4] && (line_x[3] < line_x[2] || line_x[0] > line_x[1]))
		{
			shape = DIAMOND;
		}
		else
		{
			shape = SQUIGGLE;
		}
/*
		cout << "Color: " << cardColor << " Number: " << number << " Texture: ";
		switch(texture)
		{
			case 3:
				cout << "Solid";
				break;
			case 4:
				cout << "Shaded";
				break;
			case 5:
				cout << "Clear";
				break;
		}
		cout << " Shape: ";
		switch(shape)
		{
			case 6:
				cout << "DIAMOND" << endl;
				break;
			case 7:
				cout << "OVAL" << endl;
				break;
			case 8:
				cout << "SQUIGGLE" << endl;
				break;
			default:
				cout << "oops" << endl;
				break;
		}
*/
	struct Card result;
	result.number = number;
	result.shape = shape;
	result.texture = texture;
	result.color = cardColor;
	return result;
}

void makeVerticalCut(IplImage* frame, IplImage* f_p, int x, int ymin, int ymax, int* cardColor, 
					 int* transitions)
{
    // some useful local variables...

	double avgColor = 0;
	double numColor = 0;
	int currentColor = OMFGWEFUCKEDUP;
	int prevColor = OMFGWEFUCKEDUP;
	double r,g,b;
	double hue,sat,val;
	bool tran = false;
	bool firstTransition = true; 

	*transitions = 0;
	for (int y = ymin; y < ymax; ++y)
	{
		// we handle this here...
		int realy = y;
/*		if (getImageAgainFromFile || getImageFromFile) 
		{
			realy = imageSize.height - realy;  // reverse if static image
		}
*/
		// note that we need to use "realy" in each of these cases
		uchar* color = cvPtr2D(frame,realy,x);    // get the pixel we care about
		uchar* painted = cvPtr2D(f_p, realy, x);

		r = (int)(color[0]);  // the red component of the pixel we care about
		g = (int)(color[1]);  // the green component of the pixel we care about
		b = (int)(color[2]);  // the blue component of the pixel we care about

		// you might want to call this here!
		RGBtoHSV(r,g,b,&hue,&sat,&val);

		int pixelColor = getColor(r, g, b, sat);

		
		if (tran && pixelColor == currentColor)
		{
			(*transitions)++;
			if(firstTransition)
				*cardColor = 2 - currentColor; // swaps RED & PURPLE
			firstTransition = false;
			tran = false;
		}
		else if (tran && prevColor == pixelColor)
		{
			tran = false;
		}
		else if (pixelColor != currentColor)
		{
			tran = true;
		}

		prevColor = currentColor;
		currentColor = pixelColor;

		painted[0] = 0;
		painted[1] = 0;
		painted[2] = 0;
		switch(pixelColor)
		{
			case RED:
				numColor++;
				painted[0] = 255;
				break;
			case GREEN:
				avgColor+=GREEN;
				painted[1] = 255;
				numColor++;
				break;
			case PURPLE:
				avgColor+=PURPLE;
				painted[2] = 255;
				numColor++;
				break;
			case OMFGWEFUCKEDUP:
				break;
			default:
				cerr << "Unrecognized pixel.\n";
				exit(32767);
		}
	}
	double col = avgColor / numColor;
	if(numColor == 0)
		col = -1;
	//cout << avgColor << " " << numColor << " " << col << endl;
	/*if (col < 2.0 / 3.0 && col >= 0.0)
		*cardColor = PURPLE;
	else if (col >= 2.0 / 3.0 && col < 4.0 / 3.0)
		*cardColor = GREEN;
	else if (col >= 4.0 / 3.0 && col <= 6.0 / 3.0)
		*cardColor = RED;
	else
		*cardColor = OMFGWEFUCKEDUP;*/
}

void makeHorizontalCut(IplImage* frame, IplImage* f_p, int y, int xmin, int xmax, int* x1, 
					 int* transitions)
{
	//Make a few horizontal cuts through the image to look for shape
    // some useful local variables...

	double avgColor = 0;
	double numColor = 0;
	int currentColor = OMFGWEFUCKEDUP;
	int prevColor = OMFGWEFUCKEDUP;
	double r,g,b;
	double hue,sat,val;
	bool tran = false;
	bool firstTransition = true; 
	*x1 = -1;
	*transitions = 0;
	for (int x = xmin; x < xmax; ++x)
	{
		uchar* color = cvPtr2D(frame,y,x);    // get the pixel we care about
		uchar* painted = cvPtr2D(f_p, y, x);

		r = (int)(color[0]);  // the red component of the pixel we care about
		g = (int)(color[1]);  // the green component of the pixel we care about
		b = (int)(color[2]);  // the blue component of the pixel we care about

		// you might want to call this here!
		RGBtoHSV(r,g,b,&hue,&sat,&val);

		int pixelColor = getColor(r, g, b, sat);
		
		if (tran && pixelColor == currentColor)
		{
			(*transitions)++;
			if(firstTransition && x > 15) // the x > 15 is sort out a few problems with green pixels on the far left
			{
				*x1 = x;
				firstTransition = false;
			}
			tran = false;
		}
		else if (tran && prevColor == pixelColor)
		{
			tran = false;
		}
		else if (pixelColor != currentColor)
		{
			tran = true;
		}

		// if no transitions were found...
		if (firstTransition)
			*x1 = -1;


		prevColor = currentColor;
		currentColor = pixelColor;

		painted[0] = 0;
		painted[1] = 0;
		painted[2] = 0;
		switch(pixelColor)
		{
			case RED:
				painted[0] = 255;
				break;
			case GREEN:
				painted[1] = 255;
				break;
			case PURPLE:
				painted[2] = 255;
				break;
			case OMFGWEFUCKEDUP:
				break;
			default:
				cerr << "Unrecognized pixel.\n";
				exit(32767);
		}
	}
}

int colorOf(double h, double s, double v)
{
	//Whee, red straddling the zero boundary screws everything up
	if ((h < redHueMax || h > redHueMin) &&
		(s > satMin) && (v > valMin))
		return RED;
	//Green
	if ((h < greenHueMax && h > greenHueMin && s > satMin && v > valMin))
		return GREEN;
	if ((h < purpleHueMax && h > purpleHueMin && s > satMin && v > valMin))
		return PURPLE;

	return OMFGWEFUCKEDUP;
}

void setGlobals()
{
	// mouse click locations (old and new, to tell if we've
	// clicked on a new point
	old_click_pt.x = 0;
	old_click_pt.y = 0;
	new_click_pt.x = 0;
	new_click_pt.y = 0;

	// in theory these should get deleted at the end of the program, too...

	// this is the calibration matrix of the camera
	M = new float[9];
	M[0]=    393.1788940f; M[1]=      0.0000000f; M[2]=    162.8373871f;
	M[3]=      0.0000000f; M[4]=    395.7017517f; M[5]=    121.8078156f;
	M[6]=      0.0000000f; M[7]=      0.0000000f; M[8]=      1.0000000f;

	// these are the distortion parameters of the camera
    D = new float[4];
	D[0]=-0.358375f;
	D[1]=0.168058f;
	D[2]=-0.006497f;
	D[3]=0.001283f;

    // theseimage sizes are hard-coded, but should probably be obtained for each
    // image individually -- however, with our cameras and images, this is safe.
	imageSize.width = 320; imageSize.height = 240;

	// set up some global points for drawing, etc.
    int margin = 12;
	pt1.x = margin; pt1.y = margin; 
    pt2.x = imageSize.width-margin; pt2.y = imageSize.height-margin; 

	pt3.x = imageSize.width/2;
	pt3.y = imageSize.height/2;

	pt4.x = 80; 
	pt4.y = 12;

	pt5.x = 240;
	pt5.y = 228;

	pt6.x = 92; 
	pt6.y = 24;

	pt7.x = 228;
	pt7.y = 216;

}

int getColor(double r, double g, double b, double sat)
{
	int maxColor;
	int threshold = 13;
	if (r < 5 && g < 16 && b < 16)
		maxColor = RED;

	else if (r >= g && r >= b)
		maxColor = RED;
	else if (g > b)
		maxColor = GREEN;
	else
		maxColor = PURPLE;

	if(sat > 0.6)
		return maxColor;
	else
		return OMFGWEFUCKEDUP;
}

double getIntensity(IplImage* frame, int x, int y, int cardColor)
{
		int r,g,b;
		double hue, sat, val;
		uchar* color = cvPtr2D(frame,y,x);    // get the pixel we care about

		r = (int)(color[0]);  // the red component of the pixel we care about
		g = (int)(color[1]);  // the green component of the pixel we care about
		b = (int)(color[2]);  // the blue component of the pixel we care about
		RGBtoHSV(r,g,b,&hue,&sat,&val);

		// this function is getting the wrong colors as input!!!!!!1
		if(val < 0.30)
			return 0;
		else if (val < 0.43)
			return 50;
		else if ((val == 0.43) && (cardColor == PURPLE))
			return 50;
		else
			return 100;
}

void playSet()
{
	struct Card cards[12];
	// classify cards
	int index = 0;
	for (index = 0; index < 12; ++index)
	{
		cards[index] = processCard(setimages[index], setimages[index]);
		cards[index].index = index;
	}
	// check for a set
	for (int i = 0; i < 12; ++i)
	{
		for (int j = i + 1; j < 12; ++j)
		{
			for (int k = j + 1; k < 12; ++k)
			{
				if (isASet(cards[i], cards[j], cards[k]))
				{
					printf("Testing cards:\n");
//					printCard(cards[i]);
//					printCard(cards[j]);
//					printCard(cards[k]);
					highlight(setimages[cards[i].index]);
					highlight(setimages[cards[j].index]);
					highlight(setimages[cards[k].index]);
					printf("Found a set with cards %d, %d, %d\n", cards[i].index, cards[j].index, cards[k].index);
					return;
				}
			}
		}
	}
}

bool isASet(struct Card i, struct Card j, struct Card k)
{
	int number[4];
	number[0] = i.number;
	number[1] = j.number;
	number[2] = k.number;
	
	int color[4];
	color[0] = i.color;
	color[1] = j.color;
	color[2] = k.color;
	
	int shape[4];
	shape[0] = i.shape;
	shape[1] = j.shape;
	shape[2] = k.shape;
	
	int texture[4];
	texture[0] = i.texture;
	texture[1] = j.texture;
	texture[2] = k.texture;

	number[3] = 0;
	color[3] = 0;
	shape[3] = 0;
	texture[3] = 0;

	for (int i = 0; i < 3; ++i)
	{
		number[3] += number[i];
		color[3] += color[i];
		shape[3] += shape[i]-6;
		texture[3] += texture[i]-3;
	}

	return (isValid(number[3]) && isValid(color[3]) && isValid(shape[3]) && isValid(texture[3]));
	
}

bool isValid(int sum)
{
	return (sum == 0 || sum == 3 || sum == 6);
}

//Highlight the pixels in the card
void highlight(IplImage* frame)
{
	// pixels are handled as uchar*'s
	uchar* painted;   // a pixel from the output, "painted"

	for(int x = 0; x < 320; ++x)
	{
		for (int y = 0; y < 240; ++y)
		{
			painted = cvPtr2D(frame, y, x);
			painted[0] += 50;
			painted[1] += 50;
			painted[2] += 50;
			safe(painted);
		}
	}
}

void safe(uchar* pix)
{
	for (int i = 0; i < 3; ++i)
		if (pix[i] > 255)
			pix[i] = 255;
}

void printCard(struct Card c)
{
	cout << "Card #" << c.index << ": " << c.number << " ";
	switch(c.color)
	{
		case RED:
			cout << "red";
			break;
		case GREEN:
			cout << "green";
			break;
		case PURPLE:
			cout << "purple";
			break;
		default:
			cerr << "Unrecognized color: " << c.color << endl;
			exit(1);
	}
	cout << ", ";

	switch(c.texture)
	{
		case CLEAR:
			cout << "clear";
			break;
		case SHADED:
			cout << "shaded";
			break;
		case SOLID:
			cout << "solid";
			break;
		default:
			cerr << "Unrecognized texture: " << c.texture << endl;
			exit(1);
	}
	switch(c.shape)
	{
		case DIAMOND:
			cout << "diamond";
			break;
		case OVAL:
			cout << "oval";
			break;
		case SQUIGGLE:
			cout << "squiggle";
			break;
		default:
			cerr << "Unrecognized shape: " << c.shape << endl;
			exit(1);
	}
	if (c.number > 1)
		cout << "s.";

}