#!/usr/bin/env python
# -*- coding: utf-8 -*-

# Copyright (c) 2011 Peter Kropf. All rights reserved.
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
# 
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
# 
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE.

import cv
import frame_convert
import copy
import pickle
import time
import distance
import numpy


cv.NamedWindow('Closest')

depth = pickle.load(open('depth.pickle', 'r'))
video = cv.LoadImageM('depth.jpg')

depthm = numpy.ma.masked_values(depth, 2047)
amin = depthm.argmin()
y = amin / depthm.shape[1]
x = amin - (y * depthm.shape[1])

print 'shape:', depth.shape
print 'min:', depthm.min()
print 'argmin:', amin
print 'x:', x
print 'y:', y

cv.Circle(video, (int(x), int(y)), 2, (0, 255, 0))
cv.ShowImage('Closest', video)

while 1:
    key = cv.WaitKey(10)
    if key == 27:    # escape
        break
