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#ifndef CIRCLESGRID_HPP_
#define CIRCLESGRID_HPP_

#include <fstream>
#include <set>

#include "precomp.hpp"

class Graph
{
public:
  typedef std::set<int> Neighbors;
  struct Vertex
  {
    Neighbors neighbors;
  };
  typedef std::map<int, Vertex> Vertices;

  Graph( int n);
  bool doesVertexExist( int id ) const;
  void addVertex( int id );
  void addEdge( int id1, int id2 );
  bool areVerticesAdjacent( int id1, int id2 ) const;
  size_t getVerticesCount() const;
  size_t getDegree( int id ) const;
  void floydWarshall(cv::Mat &distanceMatrix, int infinity = -1) const;

private:
  Vertices vertices;
};

struct Path
{
  int firstVertex;
  int lastVertex;
  int length;

  std::vector<int> vertices;

  Path(int first = -1, int last = -1, int len = -1)
  {
    firstVertex = first;
    lastVertex = last;
    length = len;
  }
};

struct CirclesGridFinderParameters
{
  CirclesGridFinderParameters();
  cv::Size2f densityNeighborhoodSize;
  float minDensity;
  int kmeansAttempts;
  int minDistanceToAddKeypoint;
  int keypointScale;
  float minGraphConfidence;
  float vertexGain;
  float vertexPenalty;
  float existingVertexGain;
  float edgeGain;
  float edgePenalty;
  float convexHullFactor;
};

class CirclesGridFinder
{
public:
  CirclesGridFinder(cv::Size patternSize, const std::vector<cv::Point2f> &testKeypoints,
                    const CirclesGridFinderParameters &parameters = CirclesGridFinderParameters());
  bool findHoles();
  static cv::Mat rectifyGrid(cv::Size detectedGridSize, const std::vector<cv::Point2f>& centers,
                          const std::vector<cv::Point2f> &keypoint, std::vector<cv::Point2f> &warpedKeypoints);

  void getHoles(std::vector<cv::Point2f> &holes) const;
  cv::Size getDetectedGridSize() const;

  void drawBasis(const std::vector<cv::Point2f> &basis, cv::Point2f origin, cv::Mat &drawImg) const;
  void drawBasisGraphs(const std::vector<Graph> &basisGraphs, cv::Mat &drawImg, bool drawEdges = true, bool drawVertices =
      true) const;
  void drawHoles(const cv::Mat &srcImage, cv::Mat &drawImage) const;
private:
  void computeEdgeVectorsOfRNG(std::vector<cv::Point2f> &vectors, cv::Mat *drawImage = 0) const;
  void filterOutliersByDensity(const std::vector<cv::Point2f> &samples, std::vector<cv::Point2f> &filteredSamples);
  void findBasis(const std::vector<cv::Point2f> &samples, std::vector<cv::Point2f> &basis, std::vector<Graph> &basisGraphs);
  void findMCS(const std::vector<cv::Point2f> &basis, std::vector<Graph> &basisGraphs);
  size_t findLongestPath(std::vector<Graph> &basisGraphs, Path &bestPath);
  float computeGraphConfidence(const std::vector<Graph> &basisGraphs, bool addRow, const std::vector<int> &points, const std::vector<
      int> &seeds);
  void addHolesByGraph(const std::vector<Graph> &basisGraphs, bool addRow, cv::Point2f basisVec);

  int findNearestKeypoint(cv::Point2f pt) const;
  void addPoint(cv::Point2f pt, std::vector<int> &points);
  void findCandidateLine(std::vector<int> &line, int seedLineIdx, bool addRow, cv::Point2f basisVec, std::vector<int> &seeds);
  void findCandidateHoles(std::vector<int> &above, std::vector<int> &below, bool addRow, cv::Point2f basisVec,
                          std::vector<int> &aboveSeeds, std::vector<int> &belowSeeds);
  static bool areCentersNew( const std::vector<int> &newCenters, const std::vector<std::vector<int> > &holes );
  bool isDetectionCorrect();

  static void insertWinner(float aboveConfidence, float belowConfidence, float minConfidence,
                           bool addRow,
                           const std::vector<int> &above, const std::vector<int> &below, std::vector<std::vector<int> > &holes);
  static bool areVerticesAdjacent(const Graph &graph, int vertex1, int vertex2);

  std::vector<cv::Point2f> keypoints;

  std::vector<std::vector<int> > holes;
  const cv::Size patternSize;
  CirclesGridFinderParameters parameters;
};

#endif /* CIRCLESGRID_HPP_ */