/*
* This file is part of robotreality
*
* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
* http://opensource.cit-ec.de/projects/robotreality
*
* This file may be licensed under the terms of the
* GNU General Public License Version 3 (the ``GPL''),
* or (at your option) any later version.
*
* Software distributed under the License is distributed
* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
* express or implied. See the GPL for the specific language
* governing rights and limitations.
*
* You should have received a copy of the GPL along with this
* program. If not, go to http://www.gnu.org/licenses/gpl.html
* or write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The development of this software was supported by the
* Excellence Cluster EXC 277 Cognitive Interaction Technology.
* The Excellence Cluster EXC 277 is a grant of the Deutsche
* Forschungsgemeinschaft (DFG) in the context of the German
* Excellence Initiative.
*
*/

#ifndef _DOTTRACKER_H_
#define _DOTTRACKER_H_
#include <cstdio>
#include <cv.h>
#include <highgui.h>
#include <dc1394/dc1394.h>

#include "RGBImageFilter.h"
#include "BlobFinder.h"
#include "EyeFinder.h"
#include "MarkerModel.h"
#include "DataOutput.h"
#include "DataOutputCSV.h"
#include "DataOutputLCM.h"
#include "UnitConverter.h"
#include "ConfigOptions.h"
#include "HeadTracker.h"
#include "OutputVisualizer.h"
#include "GlobalHelpers.h"

using namespace cv;

class DotTracker{


public:
	DotTracker(char *filename);
	~DotTracker();
	
	void init_mousehandler();
	void do_tracking();
	void handle_mouse_event(int event, int x, int y, int flags);
	
	void refit_model();
	void set_eye_zero();
	void set_output(bool state);
	void calc_head_zero_rot();
	void reset_framecounter();
	void set_eyefinder_brightness_threshold(int v);
private:
	string image_path;
	void threaded_cvtColor(Mat source, Mat target, int);
	void single_cvtColor(Mat source, Mat target, int bayer_mode);
	double get_angle(Point2d a, Point2d b);
	Mat get_rotation_translation_matrix(MarkerModel *m, double);
	void remove_translation_and_rotation(MarkerModel *m, EyeFinder *e, HeadTracker *h);
	
	void init_camera(int idx);
	bool grab_image();
	void colorclass_select(int);
	void colorclass_clear();
	void normalize_histogram(Mat *img);
	
	VideoCapture *camera;
	Mat frame_raw;
	Mat frame_raw_planes[3];
	Mat frame_rgb;
	Mat frame_rgb_roi;
	Mat frame_rgb_filtered;
	Mat frame_rgb_filtered_rot;
	Mat frame_pixelfilter_result;
	Mat frame_result_eye;
	Mat frame_rgb_filtered2;
	Mat frame_raw_roi_upper;
	Mat resultview_rotated;
	bool first;
	
	RGBImageFilter *rgb_image_filter;
	BlobFinder *blobfinder;
	EyeFinder *eyefinder;
	MarkerModel *marker_model;
	DataOutput *data_output;
	UnitConverter *unit_converter;
	ConfigOptions *cfg;
	OutputVisualizer *output_vis;
	HeadTracker *head_tracker;
	
	int dummy_eye_radius_x;
	int dummy_eye_radius_y;
	int dummy_eyelid_scale_factor;
	int dummy_orientation_scale_factor_x;
	int dummy_orientation_scale_factor_y;
	
	int dummy_mouth_offset;
	int dummy_mouth_scale_factor;
	
// 	int mouth_zero_distance;
	
	int angle_tmp_100;
	
// 	int colorclass_selected;
// 	int frame_number;
// 	int eyefinder_brightness_threshold;
// 	int eyefinder_brightness_threshold2;
// 	
// 	bool debug_show_eyefinder_results;
// 	bool debug_show_pixelfilter_results;
// 	bool debug_show_text;
// 	bool debug_show_results;
// 	bool debug_show_model_results;
// 	bool dump_data_to_stdout;
// 	bool free_running;
// 	bool show_rgb_normalized;
// 	bool rotate_resultview;
// 	bool normalize_resultview_histogram;

	int last_frame;
	int calib_index;
	char *image_source_filename;
// 	bool grab_from_cam;
};



// void button_wrapper(int event, int x, int y, int flags, void* ptr);

#endif