/* Copyright (c) 2012 Patrick Ruoff
 * Copyright (c) 2014-2016 Stanislaw Halik <sthalik@misaki.pl>
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 */

#pragma once

#include "api/plugin-api.hpp"
#include "tracker-easy-api.h"
#include "cv/numeric.hpp"
#include "video/video-widget.hpp"
#include "video/camera.hpp"
#include "frame.hpp"

#include <atomic>
#include <memory>
#include <vector>

#include <opencv2/core.hpp>

#include <QThread>
#include <QMutex>
#include <QLayout>


class EasyTrackerDialog;

using namespace numeric_types;

struct EasyTracker : QThread, ITracker
{
    friend class EasyTrackerDialog;

    template<typename t> using pointer = pt_pointer<t>;

    explicit EasyTracker(pointer<pt_runtime_traits> const& pt_runtime_traits);
    ~EasyTracker() override;
    module_status start_tracker(QFrame* parent_window) override;
    void data(double* data) override;
    bool center() override;

    int  get_n_points();

private:
    void run() override;

    bool maybe_reopen_camera();
    void set_fov(int value);

    pointer<pt_runtime_traits> traits;

    QMutex camera_mtx;


    pt_settings s;

    std::unique_ptr<QLayout> layout;
    std::vector<vec2> points;
    std::vector<vec2> iImagePoints;

    int preview_width = 320, preview_height = 240;

    pointer<pt_point_extractor> point_extractor;
    std::unique_ptr<video::impl::camera> camera;
    video::impl::camera::info iCameraInfo;
    pointer<video_widget> widget;

    video::frame iFrame;
    cv::Mat iMatFrame;
    Preview iPreview;

    std::atomic<unsigned> point_count { 0 };
    std::atomic<bool> ever_success = false;
    mutable QMutex center_lock, data_lock;

    // Translation solutions
    std::vector<cv::Mat> iTranslations;
    // Rotation solutions
    std::vector<cv::Mat> iRotations;
    // Angle solutions, pitch, yaw, roll, in this order
    std::vector<cv::Vec3d> iAngles;
    // The index of our best solution in the above arrays
    int iBestSolutionIndex = -1;
    // Best translation
    cv::Vec3d iBestTranslation;
    // Best angles
    cv::Vec3d iBestAngles;
};