/* vehicle-speed.h */
/* Last edited on 2016-04-09 00:31:01 by stolfilocal  */
/* Based on code by Diogo Luvizon  <diogo@luvizon.com> 29/01/2014 */

#ifndef vehicle_speed_H
#define vehicle_speed_H

#include <stdio.h>

#include <bool.h>

#include <dsm_image.h>

/* Input files. */
#define SVM_MODEL_FILE "./input/model.svm"
#define THOG_SETTINGS_FILE "./input/1_7_9.txt"

typedef struct dsm_vs_data_t 
{
  int last;

  unsigned long object_counter;
  const char *out_path;

  /* Image parameters. */
  int img_nx;
  int img_ny;
  /* KLT */
  KLT_TrackingContext tc;
  KLT_TrackingContext tc_gt;
  vector<KLT_FeatureList> features;
  vector<KLT_FeatureList> features_gt;
  struct klt_buffers kltbufs;

  struct lane_limits lanes;

  struct sub_data *background_sub;
  struct vehicle_table *vt;
  struct snoopertext snooper;

  bool_t should_save_frame;

  int start_row; /*Last image row scanned by the connected components algorithm.*/

  /*Parameters for visual rythm extraction: */ 
  int yext0;      /*index of the upstream rythm line to be extracted from each frame. */
  int yext1;      /*index of the downstream rythm line to be extracted from each frame. */
  int xreduc;     /*width reduction factor.*/
  int yreduc;     /*height reduction factor.*/
  int nyredw;     /*number of lines to be averaged when extracting a rythm line.*/
  int nxredw;     /*number of pixels to be averaged for smoothing a rythm line.*/

  /*Parameters for background estimation:*/
  int band_ny; /*height of band to be extract around visual rythm row.*/
  double cleanup_bg; /*Erosion/dilation radius for weight clean-up.*/
  double sigma_bg;   /*estimated standard deviation of noise in background. */
  double lambda_bg;  /*expected log discrepancy between background pixels in image and reference background.*/
 
  dsm_image_t background; /*the background reference image (full size).*/ 

  /* Extracted and reduced image bands */
  dsm_image_t background_red; /*Band extracted from background image (downstream).*/
  dsm_image_t img0_red; /*Band extracted from current frame (upstream).*/
  dsm_image_t img1_red; /*Band extracted from current frame (downstream).*/
  dsm_image_t weight_red; /*Background classification weight for {img1_red}.*/

  /* Blurred versions of reduced band images aroun downstream row: */
  dsm_image_t background_red_blur; /*Blurred version of {background_red}.*/
  dsm_image_t img0_red_blur; /*Blurred version of {img0_red}.*/
  dsm_image_t img1_red_blur; /*Blurred version of {img1_red}.*/
  dsm_image_t weight_red_blur; /*Blurred version of {weight_red}.*/
        
  /* Work images for bands extracted from full-width frames: */
  dsm_image_t temp_band; 

  /* Work images for full-length visual rythm images: */
  dsm_image_t temp_vr;
      
  /*Parameters for background update:*/
  int ynlines_bg;    /*how many frames to consider.*/ 
  double tau_bg;     /*EMA decay parameter.*/
  double beta_bg;    /*Background update fraction.*/

  /*Work vectors*/
  double *vect_F; 
  double *vect_X; 
  double *img_row0;  /* Y0 = extracted image pixels from upstream visual rythm row. */
  double *img_row1;  /* Y1 = extracted image pixels from downstream visual rythm row. */
  double *bg_row1;   /* Visual rythm row (downstream) extracted from the background frame.*/
  double *weight;    /* W = background indicator weigths for {img_row1}. */
        
  int beg; 
  int end; 
       
  vector<region *> R;
 
  /*unsigned char *diff_rythm;
    unsigned char *rythm;
    int *L;
    int pos_rythm;
    int nplates;
    unsigned char *background; */
} dsm_vs_data_t;

#ifndef max
# define max(a, b) ((a) > (b) ? (a) : (b))
#endif

#ifndef min
# define min(a, b) ((a) < (b) ? (a) : (b))
#endif

#endif /* __VEHICLE_SPEED_H */