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#ifndef DEPTHPROCESSOR_H

#define DEPTHPROCESSOR_H

#include "GlobalDefines.h"

// Divisor for visualizing the depth image (16->8 bits)

#define SCALE_DIVISOR 16

// Field of view to generate horizontal map from

#define VFOV_MIN 100

#define VFOV_MAX 140

// Threshold for moving object recognition

#define FG_MASK_THRESHOLD 220

// Parameters for the background subtractor

#define BACKGROUND_SUBTRACTOR_HISTORY 150

#define BACKGROUND_SUBTRACTOR_NMIXTURES 1

// Parameters for blob detection

#define BLOB_MIN_DISTANCE 30

#define BLOB_MIN_AREA 20

#define BLOB_MAX_AREA 9999

// Multiplier for velocity line indicator

#define VELOCITY_MULTIPLIER 5

// Indicator colors

#define COLOR_DEPTH_FOV			QColor(255, 255, 255, 100)

#define COLOR_DEPTH_FOV_FILL	QColor(0, 0, 0, 100)

#define COLOR_DEPTH_POINT		QColor(0, 0, 255, 255)

#define COLOR_DEPTH_BACKGROUND	QColor(255, 0, 0, 10)

#define COLOR_FOV				QColor(0, 0, 0, 100)

#define COLOR_MOVEMENT_ZONE		QColor(255, 0, 0, 5)

#define COLOR_KEYPOINT			QColor(255, 255, 0, 200)

#define COLOR_EST_POSITION		QColor(0, 0, 255, 200)

#define COLOR_EST_AVGERAGE		QColor(0, 255, 0, 200)

class DepthProcessor : public QThread

{

	Q_OBJECT

public:

	DepthProcessor(QObject *parent = 0);

	~DepthProcessor();

	public slots:

	void setFOV(float width, float height);

	void setDisplayImage(const int, const QString &);

	void processDepthData(const cv::Mat &);

signals:

	void setImageTopLeft(const QImage &);

	void setImageTopRight(const QImage &);

	void setImageBotLeft(const QImage &);

	void setImageBotRight(const QImage &);

private:

	// Pointer to images to be displayed on the GUI

	QImage *topLeftImage;

	QImage *topRightImage;

	QImage *botLeftImage;

	QImage *botRightImage;

	void updateImages();

	void drawDepthImages();

	void drawFOVImages();

	void drawDistanceFOV(QImage &, QVector<float> &);

	void drawSensorFOV(QImage &image);

	void drawMovementZones(QImage &, QVector<float> &);

	void drawKeyPoints(QImage &image, std::vector<cv::KeyPoint> &);

	void drawMovingObjects(QImage &, std::vector<MOVING_OBJECT> &);

	void convertMatToQImage3C(cv::Mat &, QImage &);

	void convertQImageToMat3C(QImage &, cv::Mat &);

	float fovWidth;

	float fovHeight;

	cv::Mat rawData16;				// Raw 16-bit sensor data

	QImage rawDepthImage;			// Image of --^

	cv::Mat lastValidData16;		// Last known valid 16-bit data

	QImage lastValidDepthImage;		// Image of --^

	QImage lastValidProcessed;		// Processed image with overlay

	cv::Mat fgMaskMOG;				// Mask of detected movements

	QImage movementMaskImage;		// Image of --^

	cv::Mat fgMaskTmp;				// Temporary buffer for averaging mask values

	cv::Mat fgMaskRaw;				// Raw values for movement mask

	QImage movementMaskRawImage;	// Image of --^

	cv::Mat fgMaskAverage;			// Weighted average of mask values

	QImage movementMaskAverageImage;	// Image of --^

	cv::Ptr<cv::BackgroundSubtractor> pMOG;	// Background subtractor

	QImage rawHorizonImage;			// 2D image showing depth points (raw)

	QImage lastValidHorizonImage;	// 2D image showing depth points

	QImage overlayHorizonImage;		// 2D image with all overlays

	QVector<float> rawDepthHorizon;		// Depth points in inches (raw)

	QVector<float> depthHorizon;		// Depth points in inches

	QVector<int> movementMaskHorizon;	// 1D condensed movement mask

	cv::Mat movementPointsMat;		// Image showing object movement zones

	QImage movementPointsImage;		// Image of --^

	cv::SimpleBlobDetector::Params params;		// Parameters for blob detection

	cv::Ptr<cv::FeatureDetector> blobDetector;	// Blob detector

	std::vector<cv::KeyPoint> blobKeypoints;	// Keypoints from blob detector

	MovingPointTracker movementTracker;			// Movement tracker

	std::vector<MOVING_OBJECT> movementObjects;	// Results from movement tracker

};

#endif // DEPTHPROCESSOR_H