#include "ofApp.h"

using namespace cv;
using namespace ofxCv;

//--------------------------------------------------------------
void ofApp::setup(){
    kinect.setRegistration(true);
    kinect.init();
    kinect.open();

    gui_depthThresh.setup("Kinect Depth","",0,kinect.height-100);
    gui_depthThresh.add(gui_nearThresh.setup("Near Thresh",335,0,1000));
    gui_depthThresh.add(gui_farThresh.setup("Far Thresh",185,0,1000));

    gui_threshold.setup("CV Threshold","",0,kinect.height);
    gui_threshold.add(gui_thresh.setup("thresh",40,0,500));
    gui_threshold.add(gui_max_area.setup("max_area",255,0,255));

    gui_distanceTransform.setup("CV Dist Trans","",kinect.width,kinect.height);
    gui_distanceTransform.add(gui_distance_type.setup("distance_type",3,0,10));
}

//--------------------------------------------------------------
void ofApp::update(){
    kinect.update();

    if(kinect.isFrameNew()){
        ofPixels & pix = kinect.getDepthPixels();
        int numPixels = pix.size();

        for(int i=0; i < numPixels; i++){
            if(pix[i] < gui_nearThresh && pix[i] > gui_farThresh){
                pix[i] = 255;
            }else{
                pix[i] = 0;
            }
        }
    }
}

//--------------------------------------------------------------
void ofApp::draw(){

    Mat dist, bw;
    Mat src = toCv(kinect.getDepthPixels());

    //Can't seem to properly convert colors, which makes me think that the src mat is actually
    //already grayscale. Which makes sense, but I could definitely be wrong, I don't exactly know how to check.
    //cv::cvtColor(src, bw, CV_RGBA2GRAY);
    //threshold(src, bw, gui_thresh, gui_max_area, CV_THRESH_BINARY | CV_THRESH_OTSU);
    distanceTransform(src, dist, CV_DIST_L2, 3);
    normalize(dist, dist, 0, 1., NORM_MINMAX);

    drawMat(dist,0,0,400,300);
    drawMat(src,400,0,400,300);

    gui_threshold.draw();
    gui_distanceTransform.draw();
    gui_depthThresh.draw();
}

//--------------------------------------------------------------
void ofApp::keyPressed(int key){

}

//--------------------------------------------------------------
void ofApp::keyReleased(int key){

}

//--------------------------------------------------------------
void ofApp::mouseMoved(int x, int y ){

}

//--------------------------------------------------------------
void ofApp::mouseDragged(int x, int y, int button){

}

//--------------------------------------------------------------
void ofApp::mousePressed(int x, int y, int button){

}

//--------------------------------------------------------------
void ofApp::mouseReleased(int x, int y, int button){

}

//--------------------------------------------------------------
void ofApp::mouseEntered(int x, int y){

}

//--------------------------------------------------------------
void ofApp::mouseExited(int x, int y){

}

//--------------------------------------------------------------
void ofApp::windowResized(int w, int h){

}

//--------------------------------------------------------------
void ofApp::gotMessage(ofMessage msg){

}

//--------------------------------------------------------------
void ofApp::dragEvent(ofDragInfo dragInfo){

}