/* 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.
 */

#ifndef FTNOIR_TRACKER_PT_H
#define FTNOIR_TRACKER_PT_H

#include "opentrack/plugin-api.hpp"
#include "ftnoir_tracker_pt_settings.h"
#include "camera.h"
#include "point_extractor.h"
#include "point_tracker.h"
#include "opentrack-compat/timer.hpp"
#include "cv/camera-dialog.hpp"
#include "cv/video-widget.hpp"
#include "opentrack-compat/pi-constant.hpp"

#include <QThread>
#include <QMutex>
#include <QMutexLocker>
#include <QTime>
#include <atomic>
#include <memory>
#include <vector>

class TrackerDialog_PT;

//-----------------------------------------------------------------------------
// Constantly processes the tracking chain in a separate thread
class Tracker_PT : public QThread, public ITracker, private pt_types
{
    static constexpr double pi = OPENTRACK_PI;

    Q_OBJECT
    friend class camera_dialog;
    friend class TrackerDialog_PT;
public:
    Tracker_PT();
    ~Tracker_PT() override;
    void start_tracker(QFrame* parent_window) override;
    void data(double* data) override;

    Affine pose();
    int  get_n_points();
    bool get_cam_info(CamInfo* info);
public slots:
    void apply_settings();
protected:
    void run() override;
private:
    // thread commands
    enum Command : unsigned char
    {
        ABORT = 1<<0
    };
    void set_command(Command command);
    void reset_command(Command command);

    bool get_focal_length(f& ret);

    QMutex camera_mtx;
    QMutex data_mtx;
    CVCamera       camera;
    PointExtractor point_extractor;
    PointTracker   point_tracker;

    cv_video_widget* video_widget;
    QFrame*      video_frame;

    settings_pt s;
    Timer time;
    cv::Mat frame;
    std::vector<vec2> points;

    volatile unsigned point_count;
    volatile unsigned char commands;
    volatile bool ever_success;

    static constexpr f rad2deg = f(180/OPENTRACK_PI);
    //static constexpr float deg2rad = float(OPENTRACK_PI/180);
};

class TrackerDll : public Metadata
{
    QString name() { return QString("PointTracker 1.1"); }
    QIcon icon() { return QIcon(":/Resources/Logo_IR.png"); }
};

#endif // FTNOIR_TRACKER_PT_H