/*
* 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 EYECALIB_H
#define EYECALIB_H
#include <cstdio>
#include <cv.h>
#include <highgui.h>
#include <stdio.h>
#include <iostream>

#include "ConfigOptions.h"

using namespace std;
using namespace cv;
#define POS_HISTORY_SIZE 60*5
#define EYE_POSITION_HISTORY_SIZE 5

enum CALIB_POS_ENUM {
	CALIB_POS_STRAIGHT=0,
	CALIB_POS_UPPER_LEFT,
	CALIB_POS_UPPER_RIGHT,
	CALIB_POS_LOWER_RIGHT,
	CALIB_POS_LOWER_LEFT,
	CALIB_POS_CAM
};
	

class EyeCalib{
public:
	
	EyeCalib(ConfigOptions *c, int id);
	void set_name(string n);
// 	void toggle_calibmode();
// 	void set_eyeposition(Point2d eyepos, imu_data_t euler);
	
// 	void store_calib_point();
	void init_calib();
	
	Point2d calc_angle(Point2d input);
	
	void overlay_blobs(Mat *image);
private:
// 	double resolve_radius(int index_r, int index_l, double calib_full_angle, int xory);
// 	void estimate_eye_radii();
	int eye_id;
	ConfigOptions *cfg;
	int calibration_index;
	void clear_history();
	bool calib_running;
	void update_smoothed_eyeposition(Point2d p);
	string eye_name;
	
// 	Point2d calib_positions_unsorted[6];

// 	bool pos_calibrated[6];
	int calib_index;
	Point2d calib_factor;
	Point2d calib_positions[POS_HISTORY_SIZE];
	Point2d eye_position_straight;
	bool eye_position_history_filled;
	int eye_position_history_ptr;
	Point2d eye_position_history[EYE_POSITION_HISTORY_SIZE];
	Point2d eye_position_history_average;
	Point2d eye_position_history_average_sum;
	
	
	int pos_history_ptr;
	int pos_history_ptr_max;
	Point2d pos_history[POS_HISTORY_SIZE];
	Point2d pos_history_avg;
};

#endif