/**
 * @file ORB.cpp
 * @brief mex interface for ORB
 * @author Kota Yamaguchi
 * @date 2011
 */
#include "mexopencv.hpp"
using namespace std;
using namespace cv;

/**
 * Main entry called from Matlab
 * @param nlhs number of left-hand-side arguments
 * @param plhs pointers to mxArrays in the left-hand-side
 * @param nrhs number of right-hand-side arguments
 * @param prhs pointers to mxArrays in the right-hand-side
 */
void mexFunction( int nlhs, mxArray *plhs[],
                  int nrhs, const mxArray *prhs[] )
{
    // Check the number of arguments
    if (nrhs<1 || ((nrhs%2)!=1) || nlhs>2)
        mexErrMsgIdAndTxt("mexopencv:error","Wrong number of arguments");

    // Argument vector
    vector<MxArray> rhs(prhs,prhs+nrhs);

    // return the descriptor size
    if (nrhs==1 && rhs[0].isChar() && rhs[0].toString()=="DescriptorSize") {
        plhs[0] = MxArray(ORB().descriptorSize());
        return;
    }

    // Option processing
    int n_features = 500;
    float scale_factor = 1.2f;
    int edge_threshold = 31;
    int n_levels = 8;
    int first_level = 0;
    int WTA_K = 2;
    int score_type = ORB::HARRIS_SCORE;
    int patch_size = 31;
    Mat mask;
    for (int i=1; i<nrhs; i+=2) {
        string key = rhs[i].toString();
        if (key=="NFeatures")
            n_features = rhs[i+1].toInt();
        else if (key=="ScaleFactor")
            scale_factor = rhs[i+1].toDouble();
        else if (key=="NLevels")
            n_levels = rhs[i+1].toInt();
        else if (key=="EdgeThreshold")
            edge_threshold = rhs[i+1].toInt();
        else if (key=="FirstLevel")
            first_level = rhs[i+1].toInt();
        else if (key=="Mask")
            mask = rhs[i+1].toMat(CV_8U);
        else if (key=="WTA_K")
            WTA_K = rhs[i+1].toInt();
        else if (key=="ScoreType")
            score_type = rhs[i+1].toInt();
        else if (key=="PatchSize")
            patch_size = rhs[i+1].toInt();
        else
            mexErrMsgIdAndTxt("mexopencv:error","Unrecognized option");
    }

    // Process
    ORB orb(n_features,scale_factor,n_levels,edge_threshold,
            first_level,WTA_K,score_type,patch_size);
    Mat image(rhs[0].toMat());
    vector<KeyPoint> keypoints;
    bool useProvidedKeypoints=false;
    if (nlhs>1) {
        Mat descriptors;
        orb(image, mask, keypoints, descriptors, useProvidedKeypoints);
        plhs[1] = MxArray(descriptors);
    }
    else
        orb(image, mask, keypoints);
    plhs[0] = MxArray(keypoints);
}