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package edu.wpi.first.wpijavacv;

import static com.googlecode.javacv.cpp.opencv_core.*;
import static com.googlecode.javacv.cpp.opencv_imgproc.*;
/**
 * This is a class that represents contours, it can only be obtained from
 * the findContours() method of WpiBinaryImage
 * @author Greg Granito
 */
public class WPIContour extends WPIDisposable {

    CvSeq contours;
    CvRect rect;

    WPIContour(CvSeq contours) {
        this.contours = contours;
//        memStorage = contours.storage();

    }

    CvSeq getCVSeq(){
        return contours;
    }

    /**
     *
     * @return the height of the bounding rectangle of the contour
     */
    public int getHeight(){
        if(rect == null || rect.isNull())
            rect = cvBoundingRect(contours, 1);

        return rect.height();
    }

    /**
     *
     * @return the width of the bounding rectangle of the contour
     */
    public int getWidth(){
        if(rect == null || rect.isNull())
            rect = cvBoundingRect(contours, 1);

        return rect.width();
    }

    /**
     *
     * @return the x coord of the top left corner of the bounding rectangle
     */
    public int getX(){
        if(rect == null || rect.isNull())
            rect = cvBoundingRect(contours, 1);

        return rect.x();
    }

    /**
     *
     * @return the y coord of the top left corner of the bounding rectangle
     */
    public int getY(){
        if(rect == null || rect.isNull())
            rect = cvBoundingRect(contours, 1);

        return rect.y();
    }

    /**
     *
     * @param percentAccuracy the percentage the perimeter of the polygon can be off
     * the perimeter of the contour. The higher the value, the fewer points the polygon
     * will have. A value of 4-5 is recommended.
     * @return the approximated WpiPolygon
     */
    public synchronized WPIPolygon approxPolygon(double percentAccuracy){
        WPIPolygon polygon = new WPIPolygon(cvApproxPoly(contours, contours.header_size(), contours.storage(), CV_POLY_APPROX_DP, percentAccuracy, 0));
        if (getPool() != null) {
            getPool().addToPool(polygon);
        }
        return polygon;
    }

    /**
     *
     * @return the perimeter of the contour
     */
    public int getlength(){
        return (int) cvContourPerimeter(contours);
    }

    public void disposed() {
        contours.deallocate();
    }
}