/*
* 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 EYEFINDER_H
#define EYEFINDER_H

#include "BlobFinder.h"
#include "MarkerModel.h"
#include "EyeCalib.h"
#include "ConfigOptions.h"

using namespace cv;
using namespace std;

class EyeFinder{
public:
	EyeFinder(ConfigOptions *c);
	void find_iris(Mat *image, int);
	void process_image(Mat *image, MarkerModel m);
	void overlay_blobs_on_image(Mat *image);
	void process_image_eyelids(MarkerModel m);
	Point2d calc_eyelid_angle(int e, Point2d marker);
	
	void remove_translation_and_rotation(Mat rt, imu_data_t head_euler);
	
// 	void set_lookuptable(int *table);
	void show_debug_image();
	//void start_calibration();
	void set_eye_straight_position(Point2d nose_marker_lower);
		
	Point2d get_eye_pos_unfixated(int i){ return eye_pos[i]; }
	Point2d get_eye_pos_fixated(int i){ return eye_pos_fixated[i]; }
	Point2d get_eye_pos_straight_fixated(int i){ return eye_pos_straight_fixated[i]; }
	
	double get_eyelid_angle_lower(int i);
	double get_eyelid_angle_upper(int i);
	
	
	Point2d get_eye_angle(int i);
	void overlay_text_on_image(Mat *image);
	void build_lookuptable(int brightness, int brightness2);
	void process_image_eye(int i, Mat *image, Marker upper, Marker lower);
// 	void store_calib_point();
// 	void start_calib();
private:
	ConfigOptions *cfg;
	void overlay_blobs(Mat *image);
	void init_kalman(int i, double x, double y);
	void store_eye_position(int i,double x, double y);
	
	Point2d last_detected_iris_pos[2];
	
// 	Mat *current_image;
	Mat eye_roi[2];
	Mat eye_roi_hough[2];
// 	Mat eye_roi_value[2];
	BlobFinder blobfinder[2];
	int threshold_value;

	Point2d eyelid_upper[2];
	Point2d eyelid_lower[2];
	
	KalmanFilter *kalman_filter[2];
	bool uninitialised[2];
	
	Point2d eye_pos[2];
	Point2d eye_pos_raw[2];
	
	Point2d eye_pos_straight[2];
	Point2d eye_pos_straight_fixated[2];
	
	Point2d eye_pos_fixated[2];
	
	EyeCalib *eye_calib[2];
	int *color_lookup;
	
	double eyelid_offset;
	int hi, lo, hmin,hmax;
};

#endif