#if !defined(OBEJCTTRACKER_H_INCLUDED_)
#define OBEJCTTRACKER_H_INCLUDED_

#include <memory>

#include "traster.h"
#include "predict3d.h"

typedef unsigned char UBYTE8;
typedef unsigned int UINT32;

//structure pixel RGB
struct ValuePixel {
	UBYTE8 r;
	UBYTE8 g;
	UBYTE8 b;
};

//structure position (old and new) and distance^2 of neighbours,
struct NEIGHBOUR {
	short X;
	short Y;
	float dist2;
	short X_old, Y_old;
};

class CObjectTracker
{
public:
	short objID;
	bool track;

private:
	struct OBJECT_SPECS {
		bool Status;
		bool assignedAnObject;

		short dim_temp;				//dimension searce template area (real area = (2*dim_temp+1)*(2*dim_temp+1))
		short var_dim;				//variation dimension window (dimension in pixel)
		float threshold_distance;   //threshold of lose object
		float threshold_distance_B; //threshold of lose object

		//characterize
		short X;
		short Y;
		short W;
		short H;
		short half_pixelx; //precision half pixel x
		short half_pixely; //precision half pixel y

		//old characterize
		short X_old;
		short Y_old;
		short W_old;
		short H_old;

		//histogram
		std::unique_ptr<float[]> initHistogram;
		std::unique_ptr<float[]> weights_background;

		//template characterize
		short X_temp;
		short Y_temp;
		short W_temp;
		short H_temp;
	};

	OBJECT_SPECS m_sTrackingObject;
	int m_nImageWidth;
	int m_nImageHeight;
	bool colorimage;
	bool att_background;
	int HISTOGRAM_LENGTH;
	bool man_occlusion;
	NEIGHBOUR neighbours[30];
	Predict3D::Point initial;
	bool m_initialized;
	string m_visible;
	int m_K_dist;

	//--------------------------------------------------------------------------------------------------------

	void FindHistogram(TRaster32P *frame, float(*histogram), float h);
	//--------------------------------------------------------------------------------------------------------

	void FindHistogramBackground(TRaster32P *frame, float(*background));
	//--------------------------------------------------------------------------------------------------------

	void FindWeightsBackground(TRaster32P *frame);
	//--------------------------------------------------------------------------------------------------------

	void FindWightsAndCOM(TRaster32P *frame, float(*histogram));
	//--------------------------------------------------------------------------------------------------------

	UBYTE8 CheckEdgeExistance(TRaster32P *frame, short _x, short _y);
	//--------------------------------------------------------------------------------------------------------

	void UpdateInitialHistogram(float(*histogram));
	//--------------------------------------------------------------------------------------------------------

	ValuePixel GetPixelValues(TRaster32P *frame, short x, short y);
	//--------------------------------------------------------------------------------------------------------

	void SetPixelValues(TRaster32P *frame, ValuePixel pixelValues, short x, short y);

public:
	CObjectTracker(int imW, int imH, bool _colorimage, bool _att_background, bool _man_occlusion);
	//--------------------------------------------------------------------------------------------------------

	virtual ~CObjectTracker();
	//--------------------------------------------------------------------------------------------------------

	void FindNextLocation(TRaster32P *frame);
	//--------------------------------------------------------------------------------------------------------

	void ObjeckTrackerHandlerByUser(TRaster32P *frame);
	//--------------------------------------------------------------------------------------------------------

	void ObjectTrackerInitObjectParameters(short id, short x, short y, short Width, short Height, short _dim, short _var_dim, float _dist, float _distB);
	//--------------------------------------------------------------------------------------------------------

	void updateTemp();

	//--------------------------------------------------------------------------------------------------------

	float Matching(TRaster32P *frame, TRaster32P *frame_temp);
	//--------------------------------------------------------------------------------------------------------

	void DistanceAndUpdate(NEIGHBOUR position);
	//--------------------------------------------------------------------------------------------------------

	void SetPositionByNeighbours(void);
	//--------------------------------------------------------------------------------------------------------

	void WriteOnOutputFile(char *filename);
	//--------------------------------------------------------------------------------------------------------

	void DistanceReset(void);
	//--------------------------------------------------------------------------------------------------------

	NEIGHBOUR GetPosition(void);
	//--------------------------------------------------------------------------------------------------------

	void SetInit(bool status);
	//--------------------------------------------------------------------------------------------------------

	bool GetInit();
	//--------------------------------------------------------------------------------------------------------

	string GetVisibility();
	//--------------------------------------------------------------------------------------------------------

	void SetVisibility(string visibily);
	//--------------------------------------------------------------------------------------------------------

	Predict3D::Point GetInitials();
	//--------------------------------------------------------------------------------------------------------

	void SetInitials(NEIGHBOUR position);
	//--------------------------------------------------------------------------------------------------------

	void SetPosition(short x, short y);
	//--------------------------------------------------------------------------------------------------------

	int GetKDist();
	//--------------------------------------------------------------------------------------------------------
	short getId() { return objID; }

}; //end of trackobject class
//---------------------------------------------------------------------------
#endif