/* Copyright (c) 2012 Patrick Ruoff
 * Copyright (c) 2015-2016 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 "ftnoir_tracker_pt_settings.h"
#include "camera.h"
#include "numeric.hpp"

#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>

#include <vector>

//#define DEBUG_MEANSHIFT

namespace pt_extractor_impl {

using namespace types;

struct blob
{
    double radius, value;
    vec2 pos;
    cv::Rect rect;
    unsigned idx;

    blob(double radius, const cv::Vec2d& pos, double value, const cv::Rect &rect, unsigned idx);
};

class PointExtractor final
{
public:
    // extracts points from frame and draws some processing info into frame, if draw_output is set
    // dt: time since last call in seconds
    void extract_points(const cv::Mat& frame, cv::Mat& preview_frame, std::vector<vec2>& points);
    PointExtractor();

    settings_pt s;
private:
    static constexpr int max_blobs = 16;

    cv::Mat1b frame_bin, frame_gray;
    cv::Mat1b contour_masks[max_blobs];
    cv::Mat1f hist;

    std::vector<blob> blobs;
    std::vector<std::vector<cv::Point>> contours;
};

} // ns pt_extractor_impl

using pt_extractor_impl::PointExtractor;