#pragma once
#include <cstdio>
#include <map>
#include <vector>
#include <set>
#include <ARToolKitPlus/TrackerMultiMarker.h>
#include <Ivy.h>
#include "Calibration.h"
#include "MinMaxAvg.h"

using ARToolKitPlus::TrackerMultiMarker;
#pragma comment (lib, "ARToolKitPlus.lib")

class MyMakerInfo
{
public:
	int id;
	ARFloat confidence;
	ARFloat x;
	ARFloat y;
	int area;
	int dir;
	ARFloat prev_matrix[3][4];
	int absent; // count of marker absence if > 10 ==> remove
	double time;
};

class ARAnalyse 
{
public:
	ARAnalyse();
	~ARAnalyse();
	bool	InitialiseTracker( int width, int height, int sample_size);
	void	Transform( unsigned char * cameraBuffer, int size, bool moyen );
	void	Analyse( double SampleTime, const unsigned char * cameraBuffer, int size );
	bool	Calibrate();
	void SaveCalibration();
	void RestoreCalibration();

	bool	IsCalibrationEnabled()
	{
		return m_calibration_enabled;
	}
	bool	IsCalibrated()
	{
		return m_calibrated;
	}
	void IvyInit(const char *domain);
	typedef std::map<int, MyMakerInfo> MarkersMap;
	MarkersMap markers;
	ARToolKitPlus::ARMarkerInfo getDetectedMarker(int i)
	{
		return m_tracker->getDetectedMarker(i);
	}
	const ARFloat* getModelViewMatrix() const
	{
		return m_tracker->getModelViewMatrix();
	}
	const ARFloat* getProjectionMatrix() const
	{
		return m_tracker->getProjectionMatrix();
	}
	bool ToggleAutoThreshold();
	void setThreshold( int thr )
	{
		if ( ! m_tracker->isAutoThresholdActivated() )
				m_tracker->setThreshold( thr );
	}
	int getThreshold()
	{
		return m_tracker->getThreshold();
	}
	bool IsCalibrationID( int id );
	MinMaxAvg confidence;
	MinMaxAvg frame_per_seconds;
	MinMaxAvg frame_delay;

	int DownSample;
	int BlurPass;
	typedef enum { GrayScale, Blur, Diff, Threshold, Moyen } DisplayType;
	typedef enum {	FMoyen, FLaplacien4, FLaplacien8, FLaplaciend, FSobel, FPrewitt, FGaussian } FilterType;
	
	DisplayType Display;
	FilterType filter;

protected:
	// Ivy;
	Ivy*		bus;
	char *		camera;
	// For calibration Process
	std::set<int> m_calibration_ids;
    std::map<int,Calibration::Corners> m_IdToCorner;
	Calibration *m_calibration;
	bool m_calibrated;

	bool m_calibration_enabled;
	bool first_calibration_done;

	TrackerMultiMarker		*m_tracker;      // Manages ARToolkit tracker

	int m_width, m_height; // image size
	int nb_pixel;
	
	typedef float pixel_type;
	typedef float value_type;
	pixel_type *m_gray;
	pixel_type *m_blur0;
	pixel_type *m_blur1;
	pixel_type *m_filter_v;
	pixel_type *m_filter_h;

	// filtre moyen sur plusieurs images
	void CalcMoyen();

	void DisplayGrayScale(unsigned char * cameraBuffer, pixel_type * dest);
	void DisplayBlur(unsigned char * cameraBuffer, pixel_type * dest);
	void DisplayDiff(unsigned char * cameraBuffer, pixel_type * dest);
	void DisplayThreshold(unsigned char * cameraBuffer, pixel_type * dest);
	void DisplayMoyen(unsigned char * cameraBuffer, pixel_type * dest);
	void Filter ( const float *k, int k_size, pixel_type *src, pixel_type *dst );
	
	void CombineFilter ( pixel_type *src_h, pixel_type *src_v, pixel_type *dst );
	
	float *m_sum;
	pixel_type **m_images;
	int m_first_image;
	int m_last_image;
	int nb_images;

	long FrameCount;
	double MarkerWidth;
	ARToolKitPlus::MARKER_MODE MarkerType;
	std::string CameraParameterFile;
	std::string MarkerSetConfigFile;
	std::string CalibrationFile;
	double MarkerMoveThreshold;
	int MarkerSeekingThreshold;
	float MarkerBorderPercentage;
	int MarkerAbsenceCount;


};