/****************************************************************************
* MeshLab                                                           o o     *
* A versatile mesh processing toolbox                             o     o   *
*                                                                _   O  _   *
* Copyright(C) 2005                                                \/)\/    *
* Visual Computing Lab                                            /\/|      *
* ISTI - Italian National Research Council                           |      *
*                                                                    \      *
* All rights reserved.                                                      *
*                                                                           *
* This program is free software; you can redistribute it and/or modify      *
* it under the terms of the GNU General Public License as published by      *
* the Free Software Foundation; either version 2 of the License, or         *
* (at your option) any later version.                                       *
*                                                                           *
* This program is distributed in the hope that it will be useful,           *
* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
* for more details.                                                         *
*                                                                           *
****************************************************************************/

#include "filter_mutualglobal.h"
#include <common/GLExtensionsManager.h>

#include "alignset.h"


#include "solver.h"
#include "mutual.h"


//#include "shutils.h"

#include <wrap/gl/shot.h>
#include <wrap/gl/camera.h>

#include <vcg/complex/algorithms/point_sampling.h>

#include <QElapsedTimer>

// Constructor usually performs only two simple tasks of filling the two lists
//  - typeList: with all the possible id of the filtering actions
//  - actionList with the corresponding actions. If you want to add icons to your filtering actions you can do here by construction the QActions accordingly

AlignSet alignset;



FilterMutualGlobal::FilterMutualGlobal()
{
	typeList = {FP_IMAGE_GLOBALIGN};

	for(ActionIDType tt: types())
		actionList.push_back(new QAction(filterName(tt), this));
}

QString FilterMutualGlobal::pluginName() const
{
	return "FilterMutualGlobal";
}

// ST() must return the very short string describing each filtering action
// (this string is used also to define the menu entry)
QString FilterMutualGlobal::filterName(ActionIDType filterId) const
{
  switch(filterId) {
        case FP_IMAGE_GLOBALIGN :  return QString("Image Registration: Global refinement using Mutual Information");
        default : assert(0);
    }
  return QString();
}

// Info() must return the longer string describing each filtering action
// (this string is used in the About plugin dialog)
 QString FilterMutualGlobal::filterInfo(ActionIDType filterId) const
{
  switch(filterId) {
        case FP_IMAGE_GLOBALIGN :  return QString("Calculate a global refinement of image registration, in order to obtain a better alignment of fine detail. It will refine only the shots associated to the active rasters, the non-active ones will be used but not refined. This filter is an implementation of Dellepiane et al. 'Global refinement of image-to-geometry registration for color projection', 2013, and it was used in Corsini et al 'Fully Automatic Registration of Image Sets on Approximate Geometry', 2013. Please cite!");
        default : assert(0);
    }
    return QString("Unknown Filter");
}

// The FilterClass describes in which generic class of filters it fits.
// This choice affect the submenu in which each filter will be placed
// More than a single class can be chosen.
FilterMutualGlobal::FilterClass FilterMutualGlobal::getClass(const QAction *a) const
{
  switch(ID(a))
    {
        case FP_IMAGE_GLOBALIGN :  return FilterPlugin::Camera;
        default : assert(0);
    }
  return FilterPlugin::Generic;
}

bool FilterMutualGlobal::requiresGLContext(const QAction* action) const
{
	switch(ID(action)) {
	case FP_IMAGE_GLOBALIGN:
		return true;
	default:
		assert(0);
	}
	return false;
}

// This function define the needed parameters for each filter. Return true if the filter has some parameters
// it is called every time, so you can set the default value of parameters according to the mesh
// For each parameter you need to define,
// - the name of the parameter,
// - the string shown in the dialog
// - the default value
// - a possibly long string describing the meaning of that parameter (shown as a popup help in the dialog)
RichParameterList FilterMutualGlobal::initParameterList(const QAction *action, const MeshDocument &)
{
	RichParameterList parlst;
	QStringList rendList;
	switch(ID(action))	 {
		case FP_IMAGE_GLOBALIGN :
			//parlst.addParam(RichMesh ("SourceMesh", md.mm(),&md, "Source Mesh",
				//								"The mesh on which the image must be aligned"));
			/*parlst.addParam(RichRaster ("SourceRaster", md.rm(),&md, "Source Raster",
												"The mesh on which the image must be aligned"));*/


			rendList.push_back("Combined");
			rendList.push_back("Normal map");
			rendList.push_back("Color per vertex");
			rendList.push_back("Specular");
			rendList.push_back("Silhouette");
			rendList.push_back("Specular combined");

			//rendList.push_back("ABS Curvature");
			parlst.addParam(RichEnum("RenderingMode", 0, rendList, tr("Rendering mode:"),
								QString("Rendering modes")));

			//parlst.addParam(RichShotf  ("Shot", vcg::Shotf(),"Smoothing steps", "The number of times that the whole algorithm (normal smoothing + vertex fitting) is iterated."));

			parlst.addParam(RichInt ("Max number of refinement steps",
				5,
				"Maximum number of minimizations step",
				"Maximum number of minimizations step on the global graph"));
			parlst.addParam(RichFloat ("Threshold for refinement convergence",
				1.2,
				"Threshold for refinement convergence (in pixels)",
				"The threshold (average quadratic variation in the projection on image plane of some samples of the mesh before and after each step of refinement) that stops the refinement"));

			parlst.addParam(RichBool("Pre-alignment",false,"Pre-alignment step","Pre-alignment step"));
			parlst.addParam(RichBool("Estimate Focal",true,"Estimate focal length","Estimate focal length"));
			parlst.addParam(RichBool("Fine",true,"Fine Alignment","Fine alignment"));

		  /*parlst.addParam(RichBool ("UpdateNormals",
											true,
											"Recompute normals",
											"Toggle the recomputation of the normals after the random displacement.\n\n"
											"If disabled the face normals will remains unchanged resulting in a visually pleasant effect."));
			parlst.addParam(RichAbsPerc("Displacement",
												m.cm.bbox.Diag()/100.0,0,m.cm.bbox.Diag(),
												"Max displacement",
												"The vertex are displaced of a vector whose norm is bounded by this value"));*/
											break;




		default : assert(0);
	}
	return parlst;
}

// The Real Core Function doing the actual mesh processing.
// Move Vertex of a random quantity
std::map<std::string, QVariant> FilterMutualGlobal::applyFilter(
		const QAction *action,
		const RichParameterList & par,
		MeshDocument &md,
		unsigned int& /*postConditionMask*/,
		vcg::CallBackPos *cb)
{
	if (glContext == nullptr){
		throw MLException("Fatal error: glContext not initialized");
	}
	QElapsedTimer filterTime;
	filterTime.start();

	Scalarm thresDiff=par.getFloat("Threshold for refinement convergence");

	std::vector<vcg::Point3f> myVec;
	int leap=(int)((float)md.mm()->cm.vn/1000.0f);
	//CMeshO::VertexIterator vi;
	for(int i=0;i<=md.mm()->cm.vn;i=i+leap)
	{
		myVec.push_back(md.mm()->cm.vert[i].P());
	}
	std::vector<Shotm> oldShots;
	for (const RasterModel& rm : md.rasterIterator()) {
		oldShots.push_back(rm.shot);
	}

	log("Sampled has %i vertices",myVec.size());

	std::vector<SubGraph> Graphs;
	/// Preliminary singular alignment using classic MI
	switch(ID(action))	 {
		case FP_IMAGE_GLOBALIGN :
			/// Building of the graph of images
			if (md.rasterNumber()==0) {
				 log("You need a Raster Model to apply this filter!");
				 throw MLException("You need a Raster Model to apply this filter!");

			}

			this->glContext->makeCurrent();

			this->initGL();

			if (par.getBool("Pre-alignment")) {
				preAlignment(md, par, cb);
			}

			if (par.getInt("Max number of refinement steps")!=0) {
				Graphs=buildGraph(md);
				log("BuildGraph completed");
				for (int i=0; i<par.getInt("Max number of refinement steps"); i++) {
					AlignGlobal(md, Graphs);
					float diff=calcShotsDifference(md,oldShots,myVec);
					log("AlignGlobal %d of %d completed, average improvement %f pixels",i+1,par.getInt("Max number of refinement steps"),diff);
					if (diff<thresDiff)
						break;
					oldShots.clear();
					for (const RasterModel& rm : md.rasterIterator()) {
						oldShots.push_back(rm.shot);
					}
				}
			}

			this->glContext->doneCurrent();
			log("Done!");
			break;

		default :
			wrongActionCalled(action);
	}

	log("Filter completed in %i sec",(int)((float)filterTime.elapsed()/1000.0f));

	return std::map<std::string, QVariant>();



}

float FilterMutualGlobal::calcShotsDifference(MeshDocument &md, std::vector<Shotm> oldShots, std::vector<vcg::Point3f> points)
{
	std::vector<float> distances;
	for (unsigned int i=0; i<points.size(); i++) {
		unsigned int j = 0;
		for(const RasterModel& rm : md.rasterIterator()) {
			vcg::Point2f pp=rm.shot.Project(points[i]);
			if(pp[0]>0 && pp[1]>0 && pp[0]<rm.shot.Intrinsics.ViewportPx[0] && pp[1]<rm.shot.Intrinsics.ViewportPx[1]) {
				vcg::Point2f ppOld=oldShots[j].Project(points[i]);
				vcg::Point2f d=pp-ppOld;
				distances.push_back(vcg::math::Sqrt( d[0]*d[0] + d[1]*d[1] ));
			}
			++j;
		}
	}
	float totErr=0.0;
	for (unsigned int i=0; i<distances.size(); i++) {
		totErr+=(distances[i]*distances[i]);
	}

	return totErr/(float)distances.size();
}

void FilterMutualGlobal::initGL()
{
  log("GL Initialization");
  if (!GLExtensionsManager::initializeGLextensions_notThrowing()) {
    log("GLEW initialization error!");
    throw MLException("GLEW initialization error!");
  }

  if (!glewIsSupported("GL_EXT_framebuffer_object")) {
    log("Graphics hardware does not support FBOs");
    throw MLException("Graphics hardware does not support FBOs");
  }
  if (!glewIsSupported("GL_ARB_vertex_shader") || !glewIsSupported("GL_ARB_fragment_shader") ||
      !glewIsSupported("GL_ARB_shader_objects") || !glewIsSupported("GL_ARB_shading_language")) {
    //QMessageBox::warning(this, "Danger, Will Robinson!",
//                         "Graphics hardware does not fully support Shaders");
  }

  if (!glewIsSupported("GL_ARB_texture_non_power_of_two")) {
    log("Graphics hardware does not support non-power-of-two textures");
    throw MLException("Graphics hardware does not support non-power-of-two textures");
  }
  if (!glewIsSupported("GL_ARB_vertex_buffer_object")) {
    log("Graphics hardware does not support vertex buffer objects");
    throw MLException("Graphics hardware does not support vertex buffer objects");
  }

  glClearColor(0.0f, 0.0f, 0.0f, 0.0f);

  GLfloat light_position[] = {-600.0f, 500.0f, 700.0f, 0.0f};
  GLfloat light_ambient[]  = {0.1f,  0.1f, 0.1f, 1.0f};
  GLfloat light_diffuse[]  = {0.8f,  0.8f, 0.8f, 1.0f};
  GLfloat light_specular[] = {0.9f,  0.9f, 0.9f, 1.0f};

  glEnable(GL_LIGHTING);
  glLightfv (GL_LIGHT0, GL_POSITION, light_position);
  glLightfv (GL_LIGHT0, GL_AMBIENT,  light_ambient);
  glLightfv (GL_LIGHT0, GL_DIFFUSE,  light_diffuse);
  glLightfv (GL_LIGHT0, GL_SPECULAR, light_specular);
  glEnable  (GL_LIGHT0);
  glDisable(GL_LIGHTING);

  glEnable(GL_DEPTH_TEST);
   glEnable(GL_CULL_FACE);

  glEnable(GL_NORMALIZE);
  glDepthRange (0.0, 1.0);

  glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
  glEnable(GL_BLEND);

  glHint(GL_POLYGON_SMOOTH_HINT, GL_NICEST);
  glEnable(GL_POLYGON_SMOOTH);
  glShadeModel(GL_SMOOTH);
  glDisable(GL_POLYGON_SMOOTH);

  //AlignSet &alignset = Autoreg::instance().alignset;
  alignset.initializeGL();
  //alignset.resize(800);
  assert(glGetError() == 0);

  log("GL Initialization done");

}

QString FilterMutualGlobal::filterScriptFunctionName( ActionIDType filterID )
{
	switch(filterID) {
		case FP_IMAGE_GLOBALIGN :  return QString("imagealignment");
		default : assert(0);
	}
	return QString();
}

bool FilterMutualGlobal::preAlignment(MeshDocument &md, const RichParameterList & par, vcg::CallBackPos *cb)
{
	Solver solver;
	MutualInfo mutual;
	if (md.rasterNumber()==0)
	{
		log("You need a Raster Model to apply this filter!");
		return false;
	}
	else {

		alignset.mesh=&md.mm()->cm;

		solver.optimize_focal=par.getBool("Estimate Focal");
		solver.fine_alignment=par.getBool("Fine");

		int rendmode= par.getEnum("RenderingMode");

		switch(rendmode){
		case 0:
			alignset.mode=AlignSet::COMBINE;
			break;
		case 1:
			alignset.mode=AlignSet::NORMALMAP;
			break;
		case 2:
			alignset.mode=AlignSet::COLOR;
			break;
		case 3:
			alignset.mode=AlignSet::SPECULAR;
			break;
		case 4:
			alignset.mode=AlignSet::SILHOUETTE;
			break;
		case 5:
			alignset.mode=AlignSet::SPECAMB;
			break;
		default:
			alignset.mode=AlignSet::COMBINE;
			break;
		}

		vcg::Point3f *vertices = new vcg::Point3f[alignset.mesh->vn];
		vcg::Point3f *normals = new vcg::Point3f[alignset.mesh->vn];
		vcg::Color4b *colors = new vcg::Color4b[alignset.mesh->vn];
		unsigned int *indices = new unsigned int[alignset.mesh->fn*3];

		for(int i = 0; i < alignset.mesh->vn; i++) {
			vertices[i] = alignset.mesh->vert[i].P();
			normals[i] = alignset.mesh->vert[i].N();
			colors[i] = alignset.mesh->vert[i].C();
		}

		for(int i = 0; i < alignset.mesh->fn; i++)
			for(int k = 0; k < 3; k++)
				indices[k+i*3] = alignset.mesh->face[i].V(k) - &*alignset.mesh->vert.begin();

		glBindBufferARB(GL_ARRAY_BUFFER_ARB, alignset.vbo);
		glBufferDataARB(GL_ARRAY_BUFFER_ARB, alignset.mesh->vn*sizeof(vcg::Point3f),
						vertices, GL_STATIC_DRAW_ARB);
		glBindBufferARB(GL_ARRAY_BUFFER_ARB, alignset.nbo);
		glBufferDataARB(GL_ARRAY_BUFFER_ARB, alignset.mesh->vn*sizeof(vcg::Point3f),
						normals, GL_STATIC_DRAW_ARB);
		glBindBufferARB(GL_ARRAY_BUFFER_ARB, alignset.cbo);
		glBufferDataARB(GL_ARRAY_BUFFER_ARB, alignset.mesh->vn*sizeof(vcg::Color4b),
						colors, GL_STATIC_DRAW_ARB);
		glBindBufferARB(GL_ARRAY_BUFFER_ARB, 0);

		glBindBufferARB(GL_ELEMENT_ARRAY_BUFFER_ARB, alignset.ibo);
		glBufferDataARB(GL_ELEMENT_ARRAY_BUFFER_ARB, alignset.mesh->fn*3*sizeof(unsigned int),
						indices, GL_STATIC_DRAW_ARB);
		glBindBufferARB(GL_ELEMENT_ARRAY_BUFFER_ARB, 0);


		// it is safe to delete after copying data to VBO
		delete []vertices;
		delete []normals;
		delete []colors;
		delete []indices;

		unsigned int r = 0;
		for (RasterModel& rm : md.rasterIterator()) {
			if(rm.isVisible()) {
				alignset.image=&rm.currentPlane->image;
				alignset.shot=rm.shot;

				alignset.resize(800);

				alignset.shot.Intrinsics.ViewportPx[0]=int((double)alignset.shot.Intrinsics.ViewportPx[1]*alignset.image->width()/alignset.image->height());
				alignset.shot.Intrinsics.CenterPx[0]=(int)(alignset.shot.Intrinsics.ViewportPx[0]/2);

				if (solver.fine_alignment)
					solver.optimize(&alignset, &mutual, alignset.shot);
				else {
					solver.iterative(&alignset, &mutual, alignset.shot);
					log("Vado di rough",r);
				}

				rm.shot=alignset.shot;
				float ratio= (float) rm.currentPlane->image.height()/(float)alignset.shot.Intrinsics.ViewportPx[1];
				rm.shot.Intrinsics.ViewportPx[0]=rm.currentPlane->image.width();
				rm.shot.Intrinsics.ViewportPx[1]=rm.currentPlane->image.height();
				rm.shot.Intrinsics.PixelSizeMm[1]/=ratio;
				rm.shot.Intrinsics.PixelSizeMm[0]/=ratio;
				rm.shot.Intrinsics.CenterPx[0]=(int)((float)rm.shot.Intrinsics.ViewportPx[0]/2.0);
				rm.shot.Intrinsics.CenterPx[1]=(int)((float)rm.shot.Intrinsics.ViewportPx[1]/2.0);

				log("Image %d completed",r);

			}
			else{
				log("Image %d skipped",r);
			}
			++r;
		}
	}

	return true;
}

std::vector<SubGraph> FilterMutualGlobal::buildGraph(MeshDocument &md, bool globalign)
{

	std::vector<AlignPair> allArcs;

	allArcs=CalcPairs(md, globalign);
	log("Calcpairs completed");
	return CreateGraphs(md, allArcs);

}

std::vector<AlignPair> FilterMutualGlobal::CalcPairs(MeshDocument &md, bool globalign)
{
	Solver solver;
	MutualInfo mutual;

	std::vector<AlignPair> list;

	alignset.mesh=&md.mm()->cm;

	/*solver.optimize_focal=true;
	solver.fine_alignment=true;*/

	{
		vcg::Point3f *vertices = new vcg::Point3f[alignset.mesh->vn];
		vcg::Point3f *normals = new vcg::Point3f[alignset.mesh->vn];
		vcg::Color4b *colors = new vcg::Color4b[alignset.mesh->vn];
		unsigned int *indices = new unsigned int[alignset.mesh->fn*3];

		for(int i = 0; i < alignset.mesh->vn; i++) {
			vertices[i] = alignset.mesh->vert[i].P();
			normals[i] = alignset.mesh->vert[i].N();
			colors[i] = alignset.mesh->vert[i].C();
		}

		for(int i = 0; i < alignset.mesh->fn; i++)
		for(int k = 0; k < 3; k++)
		indices[k+i*3] = alignset.mesh->face[i].V(k) - &*alignset.mesh->vert.begin();

		glBindBufferARB(GL_ARRAY_BUFFER_ARB, alignset.vbo);
		glBufferDataARB(GL_ARRAY_BUFFER_ARB, alignset.mesh->vn*sizeof(vcg::Point3f),
				  vertices, GL_STATIC_DRAW_ARB);
		glBindBufferARB(GL_ARRAY_BUFFER_ARB, alignset.nbo);
		glBufferDataARB(GL_ARRAY_BUFFER_ARB, alignset.mesh->vn*sizeof(vcg::Point3f),
				  normals, GL_STATIC_DRAW_ARB);
		glBindBufferARB(GL_ARRAY_BUFFER_ARB, alignset.cbo);
		glBufferDataARB(GL_ARRAY_BUFFER_ARB, alignset.mesh->vn*sizeof(vcg::Color4b),
				  colors, GL_STATIC_DRAW_ARB);
		glBindBufferARB(GL_ARRAY_BUFFER_ARB, 0);

		glBindBufferARB(GL_ELEMENT_ARRAY_BUFFER_ARB, alignset.ibo);
		glBufferDataARB(GL_ELEMENT_ARRAY_BUFFER_ARB, alignset.mesh->fn*3*sizeof(unsigned int),
				  indices, GL_STATIC_DRAW_ARB);
		glBindBufferARB(GL_ELEMENT_ARRAY_BUFFER_ARB, 0);

		// it is safe to delete after copying data to VBO
		delete []vertices;
		delete []normals;
		delete []colors;
		delete []indices;
	}

	//alignset.mode=AlignSet::PROJIMG;

	//this->glContext->makeCurrent();
	unsigned int r = 0;
	for (RasterModel& rm : md.rasterIterator()) {
		if(rm.isVisible()) {
			AlignPair pair;
			alignset.image=&rm.currentPlane->image;
			alignset.shot=rm.shot;

			//this->initGL();
			alignset.resize(800);

			//alignset.shot=par.getShotf("Shot");

			alignset.shot.Intrinsics.ViewportPx[0]=int((double)alignset.shot.Intrinsics.ViewportPx[1]*alignset.image->width()/alignset.image->height());
			alignset.shot.Intrinsics.CenterPx[0]=(int)(alignset.shot.Intrinsics.ViewportPx[0]/2);

			alignset.mode=AlignSet::COMBINE;
			alignset.renderScene(alignset.shot, 3, true);
			alignset.comb=alignset.rend;
			QImage covered=alignset.comb;
			std::vector<AlignPair> weightList;

			unsigned int p = 0;
			for (RasterModel& pm : md.rasterIterator()) {
				if (pm.id()!=rm.id()) {
					alignset.mode=AlignSet::PROJIMG;
					alignset.shotPro=pm.shot;
					alignset.imagePro=&pm.currentPlane->image;
					alignset.ProjectedImageChanged(*alignset.imagePro);
					float countTot=0.0;
					float countCol=0.0;
					alignset.RenderShadowMap();
					alignset.renderScene(alignset.shot, 2, true);
					//alignset.readRender(1);
					for (int x=0; x<alignset.wt; x++) {
						for (int y=0; y<alignset.ht; y++) {
							QColor color;
							color.setRgb(alignset.comb.pixel(x,y));
							if (color!=qRgb(0,0,0)) {
								countTot++;
								if (alignset.comb.pixel(x,y)!=alignset.rend.pixel(x,y)) {
									countCol++;
								}
							}
						}
					}
					pair.area=countCol/countTot;

					if (pair.area>0.2) {
						pair.mutual=mutual.info(alignset.wt,alignset.ht,alignset.target,alignset.render);
						pair.imageId=r;
						pair.projId=p;
						pair.weight=pair.area*pair.mutual;
						weightList.push_back(pair);

					}
				}
				++p;
			}

			log("Image %d completed",r);
			if (!globalign) {
				for (unsigned int i=0; i<weightList.size(); i++) {
					log("Area %3.2f, Mutual %3.2f",weightList[i].area,weightList[i].mutual);
					list.push_back(weightList[i]);
				}

				//Log(0, "Tot arcs %d, Valid arcs %d",(md.rasterList.size())*(md.rasterList.size()-1),list.size());
				//return list;

			}
			else {
				std::sort(weightList.begin(), weightList.end(), orderingW());

				///////////////////////////////////////7
				for (unsigned int i=0; i<weightList.size(); i++) {
					int p=weightList[i].projId;
					alignset.mode=AlignSet::PROJIMG;
					alignset.shotPro=rm.shot;
					alignset.imagePro=&rm.currentPlane->image;
					alignset.ProjectedImageChanged(*alignset.imagePro);
					float countTot=0.0;
					float countCol=0.0;
					float countCov=0.0;
					alignset.RenderShadowMap();
					alignset.renderScene(alignset.shot, 2, true);
					//alignset.readRender(1);
					for (int x=0; x<alignset.wt; x++) {
						for (int y=0; y<alignset.ht; y++) {
							QColor color;
							color.setRgb(alignset.comb.pixel(x,y));
							if (color!=qRgb(0,0,0)) {
								countTot++;
								if (alignset.comb.pixel(x,y)!=alignset.rend.pixel(x,y)) {
									if (covered.pixel(x,y)!=qRgb(255,0,0)) {
										countCov++;
										covered.setPixel(x,y,qRgb(255,0,0));
									}
									countCol++;
								}
							}
						}
					}
					pair.area=countCol/countTot;
					/*covered.save("covered.jpg");
					alignset.rend.save("rend.jpg");
					alignset.comb.save("comb.jpg");*/

					pair.area*=countCov/countTot;
					pair.mutual=mutual.info(alignset.wt,alignset.ht,alignset.target,alignset.render);
					pair.imageId=r;
					pair.projId=p;
					pair.weight=weightList[i].weight;
					list.push_back(pair);
					log("Area %3.2f, Mutual %3.2f",pair.area,pair.mutual);
				}
			}

		}
		++r;
	}
	//////////////////////////////////////////////////////



	log("Tot arcs %d, Valid arcs %d",(md.rasterNumber())*(md.rasterNumber()-1),list.size());


	//emit md.rasterSetChanged();
	//this->glContext->doneCurrent();
	return list;

}

std::vector<SubGraph> FilterMutualGlobal::CreateGraphs(MeshDocument &md, std::vector<AlignPair> arcs)
{
	std::vector<SubGraph> Gr;
	SubGraph allNodes;
	int numNodes=md.rasterNumber();
	for (int s=0; s<numNodes; s++) {
		Node n;
		n.active=false;
		n.assigned=false;
		n.grNum=0;
		n.avMut=0.0;
		allNodes.nodes.push_back(n);
	}
	int totGr=1;
	bool done=false;
	std::vector<int> nod;
	for (unsigned int i=0; i<arcs.size(); i++) {
		int cand=arcs[i].imageId;
		bool insert=true;
		for (unsigned int j=0; j<nod.size(); j++) {
			if(nod[j]==cand) {
				insert=false;
				break;
			}
		}
		if(insert)
			nod.push_back(cand);
		int cand2=arcs[i].projId;
		insert=true;
		for (unsigned int j=0; j<nod.size(); j++) {
			if(nod[j]==cand2) {
				insert=false;
				break;
			}
		}
		if(insert)
			nod.push_back(cand2);

	}
	int involvedNodes=nod.size();
	int totNodes=0;
	while (!done) {
		for (unsigned int i=0; i<arcs.size(); i++) {
			int candidate=arcs[i].imageId;
			if(allNodes.nodes[candidate].assigned==false) {
				allNodes.nodes[candidate].assigned=true;
				allNodes.nodes[candidate].grNum=totGr;
				totNodes++;
				for (unsigned int j=0; j<arcs.size(); j++) {
					if (arcs[j].imageId==candidate) {
						if (allNodes.nodes[arcs[j].projId].assigned==false) {
							allNodes.nodes[arcs[j].projId].assigned=true;
							allNodes.nodes[arcs[j].projId].grNum=totGr;
							totNodes++;
						}
					}
				}
			}
		}
		if (totNodes==involvedNodes)
			done=true;
		else totGr++;
	}

	for (int i=1; i<totGr+1; i++) {
		SubGraph graph;
		graph.id=i;
		auto rmit = md.rasterBegin();
		for (int j=0; j<numNodes; j++) {
			log("Node %d of %d",j,numNodes);
			if (allNodes.nodes[j].grNum==i) {
				Node n;
				if((*rmit).isVisible())
					n.active=false;
				else
					n.active=true;
				n.id=j;
				n.avMut=0.0;
				for (unsigned int k=0; k<arcs.size(); k++) {
					if(arcs[k].imageId==j) {
						n.avMut+=arcs[k].weight;
						n.arcs.push_back(arcs[k]);
					}
				}
				std::sort(n.arcs.begin(), n.arcs.end(), ordering());
				graph.nodes.push_back(n);
				log("Node %d of %d: avMut %3.2f, arch %d",j,numNodes, n.avMut, n.arcs.size());
			}
			else {
				Node n;
				n.active=true;
				n.id=j;
				n.avMut=0.0;
				graph.nodes.push_back(n);
				log("Node %d of %d: not used",j,numNodes);
			}
			++rmit;
		}
		Gr.push_back(graph);
	}
	log("Tot nodes %d, SubGraphs %d",numNodes,totGr);

	return Gr;
}

bool FilterMutualGlobal::AlignGlobal(MeshDocument &md, std::vector<SubGraph> graphs)
{
	for (int j=0; j<1; j++) {
		for (unsigned int i=0; i<graphs.size(); i++) {
			int n=0;
			while (!allActive(graphs[i])) {
				//Log(0, "Round %d of %d: get the right node",n+1,graphs[i].nodes.size());
				int curr= getTheRightNode(graphs[i]);
				graphs[i].nodes[curr].active=true;
				//Log(0, "Round %d of %d: alignset the node",n+1,graphs[i].nodes.size());
				AlignNode(md, graphs[i].nodes[curr]);
				//Log(0, "Round %d of %d: update the graph",n+1,graphs[i].nodes.size());
				UpdateGraph(md, graphs[i], curr);
				//Log(0, "Image %d completed",curr);
				n++;
			}
			for (unsigned int l=0; l<graphs[i].nodes.size(); l++) {
				graphs[i].nodes[l].active=false;
			}
		}
	}

	return true;
}

int FilterMutualGlobal::getTheRightNode(SubGraph graph)
{
	unsigned int bestLinks=0;
	int bestActive=-1;
	int cand;
	for (unsigned int k=0; k<graph.nodes.size(); k++) {
		int act=0;
		if (graph.nodes[k].arcs.size()>=bestLinks && !graph.nodes[k].active) {
			for (unsigned int l=0; l<graph.nodes[k].arcs.size(); l++) {
				if (graph.nodes[graph.nodes[k].arcs[l].projId].active)
					act++;
			}
			if (act>bestActive) {
				bestActive=act;
				bestLinks=graph.nodes[k].arcs.size();
				cand=k;
			}
			else if (act==bestActive && graph.nodes[k].avMut>graph.nodes[cand].avMut) {
				bestActive=act;
				bestLinks=graph.nodes[k].arcs.size();
				cand=k;
			}
		}
	}
	return cand;

}

bool FilterMutualGlobal::allActive(SubGraph graph)
{
	for (unsigned int k=0; k<graph.nodes.size(); k++) {
		if (!graph.nodes[k].active)
			return false;
	}
	return true;

}

bool FilterMutualGlobal::AlignNode(MeshDocument &md, Node node)
{
	Solver solver;
	MutualInfo mutual;

	alignset.mode=AlignSet::NODE;
	//alignset.node=&node;

	auto it= md.rasterBegin(); std::advance(it, node.id);
	RasterModel& rm = *it;
	alignset.image=&rm.currentPlane->image;
	alignset.shot=rm.shot;

	alignset.mesh=&md.mm()->cm;

	for (unsigned int l=0; l<node.arcs.size(); l++) {
		auto lit = md.rasterBegin(); std::advance(lit, node.arcs[l].projId);
		RasterModel& lrm  =*lit;
		alignset.arcImages.push_back(&lrm.currentPlane->image);
		alignset.arcShots.push_back(&lrm.shot);
		alignset.arcMI.push_back(node.arcs[l].mutual);
	}

	if(alignset.arcImages.size()==0)
		return true;
	else if(alignset.arcImages.size()==1) {
		auto lit = md.rasterBegin(); std::advance(lit, node.arcs[0].projId);
		RasterModel& lrm  =*lit;
		alignset.arcImages.push_back(&lrm.currentPlane->image);
		alignset.arcShots.push_back(&lrm.shot);
		alignset.arcMI.push_back(node.arcs[0].mutual);
		alignset.arcImages.push_back(&lrm.currentPlane->image);
		alignset.arcShots.push_back(&lrm.shot);
		alignset.arcMI.push_back(node.arcs[0].mutual);
	}
	else if(alignset.arcImages.size()==2) {
		auto lit = md.rasterBegin(); std::advance(lit, node.arcs[0].projId);
		RasterModel& lrm  =*lit;
		alignset.arcImages.push_back(&lrm.currentPlane->image);
		alignset.arcShots.push_back(&lrm.shot);
		alignset.arcMI.push_back(node.arcs[0].mutual);
	}

	alignset.ProjectedMultiImageChanged();

	/*solver.optimize_focal=true;
	solver.fine_alignment=true;*/

	//this->glContext->makeCurrent();
	/*this->initGL();*/
	alignset.resize(800);

	vcg::Point3f *vertices = new vcg::Point3f[alignset.mesh->vn];
	vcg::Point3f *normals = new vcg::Point3f[alignset.mesh->vn];
	vcg::Color4b *colors = new vcg::Color4b[alignset.mesh->vn];
	unsigned int *indices = new unsigned int[alignset.mesh->fn*3];

	for(int i = 0; i < alignset.mesh->vn; i++) {
		vertices[i] = alignset.mesh->vert[i].P();
		normals[i] = alignset.mesh->vert[i].N();
		colors[i] = alignset.mesh->vert[i].C();
	}

	for(int i = 0; i < alignset.mesh->fn; i++)
		for(int k = 0; k < 3; k++)
			indices[k+i*3] = alignset.mesh->face[i].V(k) - &*alignset.mesh->vert.begin();

	glBindBufferARB(GL_ARRAY_BUFFER_ARB, alignset.vbo);
	glBufferDataARB(GL_ARRAY_BUFFER_ARB, alignset.mesh->vn*sizeof(vcg::Point3f),
			  vertices, GL_STATIC_DRAW_ARB);
	glBindBufferARB(GL_ARRAY_BUFFER_ARB, alignset.nbo);
	glBufferDataARB(GL_ARRAY_BUFFER_ARB, alignset.mesh->vn*sizeof(vcg::Point3f),
			  normals, GL_STATIC_DRAW_ARB);
	glBindBufferARB(GL_ARRAY_BUFFER_ARB, alignset.cbo);
	glBufferDataARB(GL_ARRAY_BUFFER_ARB, alignset.mesh->vn*sizeof(vcg::Color4b),
			  colors, GL_STATIC_DRAW_ARB);
	glBindBufferARB(GL_ARRAY_BUFFER_ARB, 0);

	glBindBufferARB(GL_ELEMENT_ARRAY_BUFFER_ARB, alignset.ibo);
	glBufferDataARB(GL_ELEMENT_ARRAY_BUFFER_ARB, alignset.mesh->fn*3*sizeof(unsigned int),
			  indices, GL_STATIC_DRAW_ARB);
	glBindBufferARB(GL_ELEMENT_ARRAY_BUFFER_ARB, 0);


	// it is safe to delete after copying data to VBO
	delete []vertices;
	delete []normals;
	delete []colors;
	delete []indices;

	//alignset.shot=par.getShotf("Shot");

	alignset.shot.Intrinsics.ViewportPx[0]=int((double)alignset.shot.Intrinsics.ViewportPx[1]*alignset.image->width()/alignset.image->height());
	alignset.shot.Intrinsics.CenterPx[0]=(int)(alignset.shot.Intrinsics.ViewportPx[0]/2);

	int iter;
	if (solver.fine_alignment)
		iter=solver.optimize(&alignset, &mutual, alignset.shot);
	else
		solver.iterative(&alignset, &mutual, alignset.shot);
	//alignset.renderScene(alignset.shot, 3);
	//alignset.readRender(0);


	//md.rasterList[node.id]->shot=alignset.shot;
	rm.shot=alignset.shot;
	float ratio=(float)rm.currentPlane->image.height()/(float)alignset.shot.Intrinsics.ViewportPx[1];
	rm.shot.Intrinsics.ViewportPx[0]=rm.currentPlane->image.width();
	rm.shot.Intrinsics.ViewportPx[1]=rm.currentPlane->image.height();
	rm.shot.Intrinsics.PixelSizeMm[1]/=ratio;
	rm.shot.Intrinsics.PixelSizeMm[0]/=ratio;
	rm.shot.Intrinsics.CenterPx[0]=(int)((float)rm.shot.Intrinsics.ViewportPx[0]/2.0);
	rm.shot.Intrinsics.CenterPx[1]=(int)((float)rm.shot.Intrinsics.ViewportPx[1]/2.0);
	//this->glContext->doneCurrent();
	//emit md.rasterSetChanged();
	for (unsigned int l=0; l<alignset.arcImages.size(); l++) {
		alignset.arcImages.pop_back();
		alignset.arcMI.pop_back();
		alignset.arcShots.pop_back();
		alignset.arcImages.clear();
		alignset.arcMI.clear();
		alignset.arcShots.clear();
		alignset.prjMats.clear();
	}

	return true;
}

bool FilterMutualGlobal::UpdateGraph(MeshDocument &md, SubGraph graph, int n)
{
	Solver solver;
	MutualInfo mutual;

	alignset.mesh=&md.mm()->cm;

	vcg::Point3f *vertices = new vcg::Point3f[alignset.mesh->vn];
	vcg::Point3f *normals = new vcg::Point3f[alignset.mesh->vn];
	vcg::Color4b *colors = new vcg::Color4b[alignset.mesh->vn];
	unsigned int *indices = new unsigned int[alignset.mesh->fn*3];

	for(int i = 0; i < alignset.mesh->vn; i++) {
		vertices[i] = alignset.mesh->vert[i].P();
		normals[i] = alignset.mesh->vert[i].N();
		colors[i] = alignset.mesh->vert[i].C();
	}

	for(int i = 0; i < alignset.mesh->fn; i++)
		for(int k = 0; k < 3; k++)
			indices[k+i*3] = alignset.mesh->face[i].V(k) - &*alignset.mesh->vert.begin();

	glBindBufferARB(GL_ARRAY_BUFFER_ARB, alignset.vbo);
	glBufferDataARB(GL_ARRAY_BUFFER_ARB, alignset.mesh->vn*sizeof(vcg::Point3f),
	  vertices, GL_STATIC_DRAW_ARB);
	glBindBufferARB(GL_ARRAY_BUFFER_ARB, alignset.nbo);
	glBufferDataARB(GL_ARRAY_BUFFER_ARB, alignset.mesh->vn*sizeof(vcg::Point3f),
	  normals, GL_STATIC_DRAW_ARB);
	glBindBufferARB(GL_ARRAY_BUFFER_ARB, alignset.cbo);
	glBufferDataARB(GL_ARRAY_BUFFER_ARB, alignset.mesh->vn*sizeof(vcg::Color4b),
	  colors, GL_STATIC_DRAW_ARB);
	glBindBufferARB(GL_ARRAY_BUFFER_ARB, 0);

	glBindBufferARB(GL_ELEMENT_ARRAY_BUFFER_ARB, alignset.ibo);
	glBufferDataARB(GL_ELEMENT_ARRAY_BUFFER_ARB, alignset.mesh->fn*3*sizeof(unsigned int),
	  indices, GL_STATIC_DRAW_ARB);
	glBindBufferARB(GL_ELEMENT_ARRAY_BUFFER_ARB, 0);


	// it is safe to delete after copying data to VBO
	delete []vertices;
	delete []normals;
	delete []colors;
	delete []indices;

	for (unsigned int h=0; h<graph.nodes.size(); h++) {
		for (unsigned int l=0; l<graph.nodes[h].arcs.size(); l++) {
			if(graph.nodes[h].arcs[l].imageId==n || graph.nodes[h].arcs[l].projId==n) {
				//////////////////
				int imageId=graph.nodes[h].arcs[l].imageId;
				int imageProj=graph.nodes[h].arcs[l].projId;
				auto it= md.rasterBegin(); std::advance(it, imageId);
				RasterModel& rm = *it;
				//this->glContext->makeCurrent();

				alignset.image=&rm.currentPlane->image;
				alignset.shot=rm.shot;

				//this->initGL();
				alignset.resize(800);

				//alignset.shot=par.getShotf("Shot");

				alignset.shot.Intrinsics.ViewportPx[0]=int((double)alignset.shot.Intrinsics.ViewportPx[1]*alignset.image->width()/alignset.image->height());
				alignset.shot.Intrinsics.CenterPx[0]=(int)(alignset.shot.Intrinsics.ViewportPx[0]/2);

				/*alignset.mode=AlignSet::COMBINE;
				alignset.renderScene(alignset.shot, 3, true);
				alignset.comb=alignset.rend;*/

				alignset.mode=AlignSet::PROJIMG;
				alignset.shotPro=rm.shot;
				alignset.imagePro=&rm.currentPlane->image;
				alignset.ProjectedImageChanged(*alignset.imagePro);
				alignset.RenderShadowMap();
				alignset.renderScene(alignset.shot, 1, true);
				graph.nodes[h].arcs[l].mutual=mutual.info(alignset.wt,alignset.ht,alignset.target,alignset.render);


				//this->glContext->doneCurrent();

				//////////////////////////77
			}
		}
	}


	return true;

}

MESHLAB_PLUGIN_NAME_EXPORTER(FilterMutualInfoPlugin)
