package unusedcodes;

import Camera.ArducamIMX477Preset;
import Camera.CameraProperty;
import Camera.LiveCamEvent;
import Config.CameraConfigEnum;
import com.google.zxing.BinaryBitmap;
import com.google.zxing.NotFoundException;
import com.google.zxing.Result;
import com.google.zxing.client.j2se.BufferedImageLuminanceSource;
import com.google.zxing.common.HybridBinarizer;
import javafx.application.Platform;
import javafx.concurrent.Task;
import javafx.fxml.FXML;
import javafx.scene.control.CheckBox;
import javafx.scene.control.Label;
import javafx.scene.control.Slider;
import javafx.scene.image.Image;
import javafx.scene.image.ImageView;
import javafx.scene.image.PixelFormat;
import javafx.scene.image.WritableImage;
import javafx.scene.layout.AnchorPane;
import lombok.Getter;
import lombok.Setter;
import lombok.val;
import org.bytedeco.javacv.Frame;
import org.bytedeco.javacv.OpenCVFrameGrabber;
import org.bytedeco.opencv.opencv_core.Mat;
import org.bytedeco.opencv.opencv_core.RectVector;
import org.bytedeco.opencv.opencv_core.Scalar;
import org.bytedeco.opencv.opencv_core.UMat;
import org.opencv.videoio.Videoio;

import java.awt.image.BufferedImage;
import java.awt.image.DataBufferByte;
import java.nio.ByteBuffer;
import java.nio.file.Path;
import java.time.LocalDateTime;
import java.util.concurrent.atomic.AtomicBoolean;

import static Config.SomeCodes.*;
import static org.bytedeco.opencv.global.opencv_core.CV_8UC3;
import static org.bytedeco.opencv.global.opencv_core.mean;
import static org.bytedeco.opencv.global.opencv_imgcodecs.imwrite;
import static org.bytedeco.opencv.global.opencv_imgproc.*;

@SuppressWarnings({"unused"})
public class Cameradetail_Arducam {
    private final AtomicBoolean Capturing = new AtomicBoolean(false);
    private final AtomicBoolean TakingPhoto = new AtomicBoolean(false);
    private final AtomicBoolean IsGrabbingLiveView = new AtomicBoolean(false);
    private OpenCVFrameGrabber mGrabber = null;
    private int liveWidth = 640;
    private int liveHeight = 480;
    private int photoWidth = 640;
    private int photoHeight = 480;
    private LiveCamEvent event = null;
    private final String photo_extension = ".jpg";
    private @Getter @Setter CameraConfigEnum cameraConfigEnum = CameraConfigEnum.CameraConfigCenter;
    //private CascadeClassifier faceDetector;

    /**
     * Get detected QR text from Live View
     */
    private @Getter String qrtext = null;

    @FXML
    private Label cameratitle;

    @FXML
    private ImageView camerastream;

    @FXML
    private AnchorPane streamanchor;

    @FXML
    private Label camerastatus;

    @FXML
    private Slider brightnessSlider;
    @FXML
    private Slider contrastSlider;
    @FXML
    private Slider saturationSlider;
    @FXML
    private Slider hueSlider;
    @FXML
    private Slider gainSlider;
    @FXML
    private Slider exposureSlider;
    @FXML
    private CheckBox AutoExposure;
    @FXML
    private CheckBox AutoWhiteBalance;
    @FXML
    private CheckBox AutoFocus;



    private void setSliderValue(Slider sld, CameraProperty prop, double value){
        sld.setMin(prop.Min);
        sld.setMax(prop.Max);
        sld.setValue(value);
    }

    @FXML
    public void initialize(){

        camerastream.fitHeightProperty().bind(streamanchor.heightProperty());
        //camerastream.fitWidthProperty().bind(streamanchor.widthProperty());
        camerastream.setPreserveRatio(true);

        Platform.runLater(()->{
            setSliderValue(brightnessSlider, ArducamIMX477Preset.Brightness, config.getBrightness(cameraConfigEnum));
            setSliderValue(contrastSlider, ArducamIMX477Preset.Contrast, config.getContrast(cameraConfigEnum));
            setSliderValue(saturationSlider, ArducamIMX477Preset.Saturation, config.getSaturation(cameraConfigEnum));
            setSliderValue(hueSlider, ArducamIMX477Preset.Hue, config.getHue(cameraConfigEnum));
            setSliderValue(gainSlider, ArducamIMX477Preset.Gain, config.getGain(cameraConfigEnum));
            setSliderValue(exposureSlider, ArducamIMX477Preset.ExposureTime, config.getExposure(cameraConfigEnum));
            AutoExposure.setSelected(config.getAutoExposure(cameraConfigEnum));
            AutoWhiteBalance.setSelected(config.getAutoWhiteBalance(cameraConfigEnum));
            AutoFocus.setSelected(config.getAutoFocus(cameraConfigEnum));
        });

        AutoExposure.selectedProperty().addListener((obs, oldVal, newVal) -> {
            setAutoExposure(newVal);
            config.setAutoExposure(cameraConfigEnum, newVal);
            if (event!=null) event.onLog("AutoExposure for "+getCameraTitle()+" changed to " + newVal);
        });

        AutoWhiteBalance.selectedProperty().addListener((obs, oldVal, newVal) -> {
            setAutoWB(newVal);
            config.setAutoWhiteBalance(cameraConfigEnum, newVal);
            if (event!=null) event.onLog("AutoWhiteBalance for "+getCameraTitle()+" changed to "+newVal);
        });
        AutoFocus.selectedProperty().addListener((obs, oldVal, newVal) -> {
            setAutoFocus(newVal);
            config.setAutoFocus(cameraConfigEnum, newVal);
            if (event!=null) event.onLog("AutoFocus for "+getCameraTitle()+" changed to "+newVal);
        });

        brightnessSlider.valueProperty().addListener((obs, oldVal, newVal) -> {
            setBrightness(newVal.doubleValue());
            config.setBrightness(cameraConfigEnum, newVal.doubleValue());
            if (event!=null) event.onLog("Brightness for "+getCameraTitle()+" changed to "+newVal);
        });
        contrastSlider.valueProperty().addListener((obs, oldVal, newVal) -> {
            setContrast(newVal.doubleValue());
            config.setContrast(cameraConfigEnum, newVal.doubleValue());
            if (event!=null) event.onLog("Contrast for "+getCameraTitle()+" changed to "+newVal);
        });
        saturationSlider.valueProperty().addListener((obs, oldVal, newVal) -> {
            setSaturation(newVal.doubleValue());
            config.setSaturation(cameraConfigEnum, newVal.doubleValue());
            if (event!=null) event.onLog("Saturation for "+getCameraTitle()+" changed to "+newVal);
        });
        hueSlider.valueProperty().addListener((obs, oldVal, newVal) -> {
            setHue(newVal.doubleValue());
            config.setHue(cameraConfigEnum, newVal.doubleValue());
            if (event!=null) event.onLog("Hue for "+getCameraTitle()+" changed to "+newVal);
        });
        gainSlider.valueProperty().addListener((obs, oldVal, newVal) -> {
            setGain(newVal.doubleValue());
            config.setGain(cameraConfigEnum, newVal.doubleValue());
            if (event!=null) event.onLog("Gain for "+getCameraTitle()+" changed to "+newVal);
        });
        exposureSlider.valueProperty().addListener((obs, oldVal, newVal) -> {
            setExposure(newVal.doubleValue());
            config.setExposure(cameraConfigEnum, newVal.doubleValue());
            if (event!=null) event.onLog("Exposure for "+getCameraTitle()+" changed to "+newVal);
        });

    }

    @FXML
    public void resetClick(){
        brightnessSlider.adjustValue(ArducamIMX477Preset.Brightness.Default);
        contrastSlider.adjustValue(ArducamIMX477Preset.Contrast.Default);
        saturationSlider.adjustValue(ArducamIMX477Preset.Saturation.Default);
        hueSlider.adjustValue(ArducamIMX477Preset.Hue.Default);
        gainSlider.adjustValue(ArducamIMX477Preset.Gain.Default);
        exposureSlider.adjustValue(ArducamIMX477Preset.ExposureTime.Default);
        AutoExposure.setSelected(true);
        AutoFocus.setSelected(true);
        AutoWhiteBalance.setSelected(true);
    }



    public boolean isCapturing(){
        return Capturing.get();
    }

    /**
     * Set Camera Title
     * @param title Title of the Camera
     */
    public void setCameraTitle(String title){
        LabelSetText(this.cameratitle, title, null);
    }

    public void setSaturation(double value){
        if (mGrabber!=null){
            mGrabber.setOption(Videoio.CAP_PROP_SATURATION, value);
        }
    }

    public double getSaturation(){
        if (mGrabber!=null){
            return mGrabber.getOption(Videoio.CAP_PROP_SATURATION);
        }
        return 0;
    }

    public void setHue(double value){
        if (mGrabber!=null){
            mGrabber.setOption(Videoio.CAP_PROP_HUE, value);
        }
    }

    public double getHue(){
        if (mGrabber!=null){
            return mGrabber.getOption(Videoio.CAP_PROP_HUE);
        }
        return 0;
    }

    public void setGain(double value){
        if (mGrabber!=null){
            mGrabber.setOption(Videoio.CAP_PROP_GAIN, value);
        }
    }

    public double getGain(){
        if (mGrabber!=null){
            return mGrabber.getOption(Videoio.CAP_PROP_GAIN);
        }
        return 0;
    }

    /**
     * Get Camera Title
     * @return Title of the Camera, or empty string if not set
     */
    public String getCameraTitle(){
        if (cameratitle!=null){
            return cameratitle.getText();
        }
        return "";
    }

    /**
     * Set Camera Status
     * @param status Status of the Camera
     */
    public void setCameraStatus(String status){
        LabelSetText(this.camerastatus, status,null);
    }

    /**
     * Get Camera Status
     * @return Status of the Camera, or empty string if not set
     */
    public String getCameraStatus(){
        if (camerastatus!=null){
            return camerastatus.getText();
        }
        return "";
    }

    /**
     * Set Camera Stream
     * @param image Image to be displayed
     */
    public void setCameraStream(Image image){
        if (image!=null){
            if (camerastream!=null){
                camerastream.setImage(image);
            }
        }
    }

    /**
     * Get Camera Stream
     * @return Image of the Camera Stream, or null if not set
     */
    public Image getCameraStream(){
        if (camerastream!=null){
            return camerastream.getImage();
        }
        return null;
    }

    public void setFPS(double value){
        if (mGrabber!=null){
            mGrabber.setOption(Videoio.CAP_PROP_FPS, value);
        }
    }

    public double getFPS(){
        if (mGrabber!=null){
            return mGrabber.getOption(Videoio.CAP_PROP_FPS);
        }
        return 0;
    }

    /**
     * Set Camera Grabber and Target Width and Height
     * @param grabber Camera Grabber
     * @param livewidth Width used on live view
     * @param liveheight Height used on live view
     * @param photowidth Width used on photo capture
     * @param photoheight Height used on photo capture
     */
    public void SetGrabber(OpenCVFrameGrabber grabber, int livewidth, int liveheight, int photowidth, int photoheight){
        if (mGrabber!=null) {
            StopLiveView();
        }
        liveHeight = liveheight;
        liveWidth = livewidth;
        photoHeight = photoheight;
        photoWidth = photowidth;
        mGrabber = grabber;
    }

    //Exposure and Focus Tricks :
    // https://stackoverflow.com/questions/53545945/how-to-set-camera-to-auto-exposure-with-opencv-3-4-2
    // https://github.com/opencv/opencv/issues/9738

    /**
     * Set Auto Exposure Mode
     * @param ON if true, set autoexposure on, otherwise off
     */
    public void setAutoExposure(boolean ON){
        if (mGrabber!=null){
            mGrabber.setOption(Videoio.CAP_PROP_AUTO_EXPOSURE, ON?ArducamIMX477Preset.AutoExposure.On:ArducamIMX477Preset.AutoExposure.Off);
        }
    }

    /**
     * Get Auto Exposure Mode
     * @return true if autoexposure is on, otherwise off
     */
    public boolean getAutoExposure(){
        if (mGrabber!=null){
            return mGrabber.getOption(Videoio.CAP_PROP_AUTO_EXPOSURE)==ArducamIMX477Preset.AutoExposure.On;
        }
        return false;
    }

    /**
     * Set Exposure when Auto Exposure is Off
     * @param value exposure value
     */
    public void setExposure(double value){
        if (mGrabber!=null){
            mGrabber.setOption(Videoio.CAP_PROP_EXPOSURE, value);
        }
    }

    /**
     * Get Exposure when Auto Exposure is Off
     * @return exposure value
     */
    public double getExposure(){
        if (mGrabber!=null){
            return mGrabber.getOption(Videoio.CAP_PROP_EXPOSURE);
        }
        return 0;
    }

    /**
     * Set Auto Focus
     * @param ON if true, set autofocus on, otherwise off
     */
    public void setAutoFocus(boolean ON){
        if (mGrabber!=null){
            mGrabber.setOption(Videoio.CAP_PROP_AUTOFOCUS, ON?ArducamIMX477Preset.AutoFocus.On:ArducamIMX477Preset.AutoFocus.Off);
        }
    }

    /**
     * Get Auto Focus
     * @return true if autofocus is on, otherwise off
     */
    public boolean getAutoFocus(){
        if (mGrabber!=null){
            return mGrabber.getOption(Videoio.CAP_PROP_AUTOFOCUS)==ArducamIMX477Preset.AutoFocus.On;
        }
        return false;
    }

    public void setAutoWB(boolean ON){
        if (mGrabber!=null){
            mGrabber.setOption(Videoio.CAP_PROP_AUTO_WB, ON?ArducamIMX477Preset.AutoWhiteBalance.On:ArducamIMX477Preset.AutoWhiteBalance.Off);
        }
    }

    public boolean getAutoWB(){
        if (mGrabber!=null){
            return mGrabber.getOption(Videoio.CAP_PROP_AUTO_WB)==ArducamIMX477Preset.AutoWhiteBalance.On;
        }
        return false;
    }

    /**
     * Set Focus when Auto Focus is Off
     * @param value focus value
     */
    public void setFocus(double value){
        if (mGrabber!=null){
            mGrabber.setOption(Videoio.CAP_PROP_FOCUS, value);
        }
    }

    /**
     * Get Focus when Auto Focus is Off
     * @return focus value
     */
    public double getFocus(){
        if (mGrabber!=null){
            return mGrabber.getOption(Videoio.CAP_PROP_FOCUS);
        }
        return 0;
    }

    public void setBrightness(double value){
        if (mGrabber!=null){
            mGrabber.setOption(Videoio.CAP_PROP_BRIGHTNESS, value);
        }
    }

    public double getBrightness(){
        if (mGrabber!=null){
            return mGrabber.getOption(Videoio.CAP_PROP_BRIGHTNESS);
        }
        return 0;
    }

    public void setContrast(double value){
        if (mGrabber!=null){
            mGrabber.setOption(Videoio.CAP_PROP_CONTRAST, value);
        }
    }

    public double getContrast(){
        if (mGrabber!=null){
            return mGrabber.getOption(Videoio.CAP_PROP_CONTRAST);
        }
        return 0;
    }

    public void setFrameWidth(int width){
        if (mGrabber!=null){
            mGrabber.setOption(Videoio.CAP_PROP_FRAME_WIDTH, width);
        }
    }

    public double getFrameWidth(){
        if (mGrabber!=null){
            return mGrabber.getOption(Videoio.CAP_PROP_FRAME_WIDTH);
        }
        return 0;
    }

    public void setFrameHeight(int height){
        if (mGrabber!=null){
            mGrabber.setOption(Videoio.CAP_PROP_FRAME_HEIGHT, height);
        }
    }

    public double getFrameHeight(){
        if (mGrabber!=null){
            return mGrabber.getOption(Videoio.CAP_PROP_FRAME_HEIGHT);
        }
        return 0;
    }

    public void setSharpness(double value){
        if (mGrabber!=null){
            mGrabber.setOption(Videoio.CAP_PROP_SHARPNESS, value);
        }
    }

    public double getSharpness(){
        if (mGrabber!=null){
            return mGrabber.getOption(Videoio.CAP_PROP_SHARPNESS);
        }
        return 0;
    }

    public void setGamma(double value){
        if (mGrabber!=null){
            mGrabber.setOption(Videoio.CAP_PROP_GAMMA, value);
        }
    }

    public double getGamma(){
        if (mGrabber!=null){
            return mGrabber.getOption(Videoio.CAP_PROP_GAMMA);
        }
        return 0;
    }



    /**
     * Take Photo from Camera
     * @param directory directory to save the photo, if null, will use default directory
     * @param prefix filename prefix
     * @return filename path of the saved photo, or null if failed
     */
    public String TakePhoto(String directory, String prefix){
        if (!ValidDirectory(directory)) directory = currentDirectory;
        if (mGrabber!=null){
            try{
                long nanos = System.nanoTime();
                while(IsGrabbingLiveView.get()) Wait(10);
                long delta = System.nanoTime() - nanos;
                double ms = delta / 1000000.0;
                if (event!=null) event.onLog("Waited IsGrabbingLiveView for "+ms+" miliseconds");
                nanos = System.nanoTime();
                TakingPhoto.set(true);

                setFrameHeight(photoHeight);
                setFrameWidth(photoWidth);
                mGrabber.restart();
                long delta2 = System.nanoTime() - nanos;
                double ms2 = delta2 / 1000000.0;
                if (event!=null) event.onLog("Set Frame Width and Height for Photo Capture for "+ms2+" miliseconds");
                nanos = System.nanoTime();


                setAutoWB(true);
                Wait(1000);

                setAutoExposure(true);
                Wait(1000);

                long delta3 = System.nanoTime() - nanos;
                double ms3 = delta3 / 1000000.0;
                if (event!=null) event.onLog("Re-enable Auto WB and Auto Exposure for "+ms3+" miliseconds");
                nanos = System.nanoTime();

                mGrabber.grab();        // buang frame pertama

                long delta4 = System.nanoTime() - nanos;
                double ms4 = delta4 / 1000000.0;
                if (event!=null) event.onLog("Buang frame pertama for "+ms4+" miliseconds");
                nanos = System.nanoTime();



                Frame frame;
                int retry = 0;
                while(true){
                    frame = mGrabber.grab();
                    if (frame!=null) {
                        if (frame.imageHeight==photoHeight){
                            if (frame.imageWidth==photoWidth){
                                break;
                            }
                        }
                    }
                    retry++;
                    if (retry>5) {
                        if (event!=null) event.onLog("TakePhoto failed, Unable to Take Photo correctly after 5 retries");
                        break;
                    }
                }

                long delta5 = System.nanoTime() - nanos;
                double ms5 = delta4 / 1000000.0;
                if (event!=null) event.onLog("Retry count = "+retry+", Grab Frame for "+ms5+" miliseconds");


                if (frame!=null && retry < 5){
                    if (event!=null) event.onLog("TakePhoto got frame with width: " + frame.imageWidth + " and height: " + frame.imageHeight);
                    val mat = matconverter.convert(frame);
                    String filename = Path.of(directory, makeFileName(prefix)).toString();
                    if (imwrite(filename, mat)){
                        long delta6 = System.nanoTime() - nanos;
                        double ms6 = delta6 / 1000000.0;
                        if (event!=null) event.onLog("TakePhoto success, Photo saved to " + filename + " for "+ms6+" miliseconds");
                        //if (event!=null) event.onLog("TakePhoto success, Photo saved to " + filename);
                        return filename;
                    } else if (event!=null) event.onLog("TakePhoto failed, Unable to Save Photo");
                }
            } catch (Exception e){
                if (event!=null) event.onLog("TakePhoto failed, Unable to Take Photo, Error: " + e.getMessage());
            } finally {
                // restart camera for live view
                try{
                    setFrameWidth(liveWidth);
                    setFrameHeight(liveHeight);
                    mGrabber.restart();
                    TakingPhoto.set(false);
                    if (event!=null) event.onLog("TakePhoto finished, Camera Restarted for Live View");
                } catch (Exception e){
                    if (event!=null) event.onLog("TakePhoto failed, Unable to Restart Camera, Error: " + e.getMessage());
                }

            }
        }
        return null;
    }



    private String makeFileName(String prefix){
        //make filename with prefix_POSITION_YYYY-MM-DD_HH-MM-SS

        LocalDateTime ldt = LocalDateTime.now();
        String timetag = ldt.getYear() + "-" + ldt.getMonthValue() + "-" + ldt.getDayOfMonth() + "_" + ldt.getHour() + "-" + ldt.getMinute() + "-" + ldt.getSecond();
        return prefix+"_"
            + switch(cameratitle.getText()){
                case "Camera Left 90" -> "LEFT90";
                case "Camera Left 45" -> "LEFT45";
                case "Camera Center" -> "CENTER";
                case "Camera Right 45" -> "RIGHT45";
                case "Camera Right 90" -> "RIGHT90";
                default -> "UNKNOWN";
            }
            + "_" + timetag + photo_extension;

    }

    public void StopLiveView(){
        Capturing.set(false);
        if (mGrabber!=null){
            try{
                mGrabber.close();
                Platform.runLater(()->setCameraStatus("Camera Stopped"));
            } catch (Exception e){
                if (event!=null) event.onLog("StopLiveView failed, Unable to Stop Camera, Error: " + e.getMessage());
            }
        }

        TakingPhoto.set(false);
        IsGrabbingLiveView.set(false);
    }


    public boolean StartLiveView(LiveCamEvent event, String cameratitle, final boolean use_qr , final boolean use_face) {
        this.event = event;
        if (mGrabber != null) {
            try {
                //StopLiveView();

                if (use_qr && event!=null) event.onLog("QR Reader loaded");
                if (use_face && event!=null) event.onLog("Face detector loaded");
                setFrameHeight(liveHeight);
                setFrameWidth(liveWidth);
                mGrabber.start();

                Capturing.set(true);
                //val converter = new OpenCVFrameConverter.ToMat();
                Platform.runLater(()->setCameraStatus("Camera Started, " + liveWidth + "x" + liveHeight));
                if (event!=null) event.onLog("Camera started with resolution " + liveWidth + "x" + liveHeight);

                AutoExposure.setSelected(true);
                AutoFocus.setSelected(true);
                AutoWhiteBalance.setSelected(true);

                val task = new Task<Image>() {
                    @Override
                    protected Image call()  {
                        while (Capturing.get()) {
                            try {
                                // selama proses pengambilan foto, jangan ambil frame
                                while(TakingPhoto.get() && Capturing.get()){
                                    Wait(10);
                                }

                                if (!Capturing.get()) return null;
                                IsGrabbingLiveView.set(true);
                                val frame = mGrabber.grab();
                                IsGrabbingLiveView.set(false);
                                if (frame != null) {
                                    val mat = matconverter.convert(frame);
                                    val umat = new UMat();  // use OpenCL
                                    mat.copyTo(umat);
                                    val graymat = new UMat();   // use OpenCL
                                    cvtColor(umat,graymat, COLOR_BGR2GRAY);
                                    if (use_qr){
                                        String qr = DetectQRFromMat(graymat);
                                        if (qr!=null) {
                                            if (!qr.equals(qrtext)){
                                                qrtext = qr;
                                                if (event!=null) event.onLog("QR Detected: " + qr);
                                                if (event!=null) event.onDetectedQRCode(qr);
                                            }
                                        }
                                    }
                                    if (use_face){
                                        RectVector face = DetectFace(graymat);
                                        if (face!=null && face.size()>0){
                                            if (event!=null) event.onFrontalFaceDetector(true,photoWidth, photoHeight);
                                            for(int i=0; i<face.size(); i++){
                                                val rect = face.get(i);
                                                rectangle(umat, rect, Scalar.GREEN);
                                            }
                                        } else if (event!=null) event.onFrontalFaceDetector(false, photoWidth, photoHeight);

                                    }

                                    umat.copyTo(mat);   // balik to CPU
                                    val rgbmat = new Mat(mat.size(), CV_8UC3);
                                    cvtColor(mat, rgbmat, COLOR_BGR2RGB);
                                    updateValue(matToWritableImage(rgbmat, mat.cols(), mat.rows()));
                                }
                            } catch (Exception e) {
                                if (event!=null) event.onLog("Unable to Grab Frame, Error: " + e.getMessage());
                                //if (!Capturing.get()) Platform.runLater(this::StopLiveView);
                            }
                        }
                        return null;
                    }
                };

                // value dari task, yaitu image, akan diupdate ke camerastream
                task.valueProperty().addListener((obs, oldVal, newVal) -> {
                    if (newVal != null) {
                        setCameraStream(newVal);
                    }
                });

                // start task
                Thread taskThread = new Thread(task);
                taskThread.setDaemon(true);
                taskThread.start();


                return true;
            } catch (Exception e) {
                if (event!=null) event.onLog("StartLiveView failed, Unable to Start Camera, Error: " + e.getMessage());
            }
        } else if (event!=null) event.onLog("StartLiveView failed, grabber is null");
        return false;
    }

    /*private void UpdateCameraStreamFromMat(Mat mat){
        val rgbmat = new Mat(mat.size(), CV_8UC3);
        cvtColor(mat, rgbmat, COLOR_BGR2RGB);
        val updated = matToWritableImage(rgbmat, mat.cols(), mat.rows());
        Platform.runLater(()->setCameraStream(updated));
    }*/

    /**
     * Detect QR Code from Mat
     * @param graymat Mat in Gray Scale
     * @return QR Code Text, or null if not detected
     */
    private String DetectQRFromMat(UMat graymat){
        if (qrreader!=null){
            Mat mat = new Mat();
            graymat.copyTo(mat);    // back to CPU, because zxing only accept BufferedImage
            val bufferedImage = matToBufferedImage(mat);
            val title = cameratitle.getText();
            val binaryBitmap = new BinaryBitmap(new HybridBinarizer(new BufferedImageLuminanceSource(bufferedImage)));
            try{
                Result result = qrreader.decode(binaryBitmap);
                if (result!=null){
                    return result.getText();
                }
            } catch (NotFoundException ignored) {
            }
        }
        return null;
    }

    /**
     * Detect Face from Mat
     * @param graymat Mat in Gray Scale
     * @return true if face detected, otherwise false
     */
    private RectVector DetectFace(UMat graymat){
//        if (frontalfaceDetector!=null){
//            val face = new RectVector();
//            frontalfaceDetector.detectMultiScale(graymat, face);
//            return face;
//        }
        return null;
    }

    private double getBrightnessFromGrayMat(Mat graymat){
        Scalar mean = mean(graymat);
        return mean.get(0);
    }

    private WritableImage matToWritableImage(Mat mat, int cols, int rows){
        WritableImage writableImage = new WritableImage(cols, rows);
        ByteBuffer buffer = mat.createBuffer();
        PixelFormat<ByteBuffer> pixelFormat = PixelFormat.getByteRgbInstance();
        writableImage.getPixelWriter().setPixels(0, 0, mat.cols(), mat.rows(), pixelFormat, buffer, mat.cols() * 3);
        return writableImage;
    }

    private BufferedImage matToBufferedImage(Mat mat){
        int type = BufferedImage.TYPE_BYTE_GRAY;
        if (mat.channels() > 1) {
            type = BufferedImage.TYPE_3BYTE_BGR;
        }
        BufferedImage image = new BufferedImage(mat.cols(), mat.rows(), type);
        byte[] data = ((DataBufferByte) image.getRaster().getDataBuffer()).getData();

        mat.data().get(data);
        return image;
    }


}