/*
 * cv_feature_match.h - optical flow feature match
 *
 *  Copyright (c) 2016-2017 Intel Corporation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 * Author: Wind Yuan <feng.yuan@intel.com>
 * Author: Yinhang Liu <yinhangx.liu@intel.com>
 */

#ifndef XCAM_CV_FEATURE_MATCH_H
#define XCAM_CV_FEATURE_MATCH_H

#include <xcam_std.h>
#include <video_buffer.h>
#include <ocl/cv_base_class.h>
#include <interface/feature_match.h>
#include <interface/data_types.h>

#include <ocl/cl_context.h>
#include <ocl/cl_device.h>
#include <ocl/cl_memory.h>

namespace XCam {

class CVFeatureMatch
    : public CVBaseClass
    , public FeatureMatch
{
public:
    explicit CVFeatureMatch ();

    void optical_flow_feature_match (
        const SmartPtr<VideoBuffer> &left_buf, const SmartPtr<VideoBuffer> &right_buf,
        Rect &left_img_crop, Rect &right_img_crop, int dst_width);

    void set_ocl (bool use_ocl) {
        CVBaseClass::set_ocl (use_ocl);
    }
    bool is_ocl_path () {
        return CVBaseClass::is_ocl_path ();
    }

protected:
    bool get_crop_image (const SmartPtr<VideoBuffer> &buffer, const Rect &crop_rect, cv::UMat &img);

    void add_detected_data (cv::InputArray image, cv::Ptr<cv::Feature2D> detector, std::vector<cv::Point2f> &corners);
    void get_valid_offsets (std::vector<cv::Point2f> &corner0, std::vector<cv::Point2f> &corner1,
                            std::vector<uchar> &status, std::vector<float> &error,
                            std::vector<float> &offsets, float &sum, int &count,
                            cv::InputOutputArray debug_img, cv::Size &img0_size);

    void calc_of_match (cv::InputArray image0, cv::InputArray image1,
                        std::vector<cv::Point2f> &corner0, std::vector<cv::Point2f> &corner1,
                        std::vector<uchar> &status, std::vector<float> &error,
                        int &last_count, float &last_mean_offset, float &out_x_offset);

    void detect_and_match (cv::InputArray img_left, cv::InputArray img_right, Rect &crop_left, Rect &crop_right,
                           int &valid_count, float &mean_offset, float &x_offset, int dst_width);

private:
    XCAM_DEAD_COPY (CVFeatureMatch);

};

}

#endif // XCAM_CV_FEATURE_MATCH_H