/* dsm_common.h - types and utilities for vehicle segmentation. */
/* Last edited on 2016-04-09 11:20:31 by stolfilocal */

#ifndef dsm_common_H
#define dsm_common_H

#define _GNU_SOURCE
#include <stdint.h>
#include <assert.h>

#include <dsm_image.h>

#define NUM_OF_BUFFERED_FRAMES 2

/* Defines the common data (shared) between the gstreamer plugin part
 and the vehicle-dsm module. */
typedef struct dsm_common_data_t {
  const char *output_path;	/**< Path to output folder. */
  const char *groundtruh_file;	/**< Path to groundtruth file. */
  const char *vehicles_xml;	/**< Path to vehicles.xml file. */

        
  long int iframe;	/* Index of the current frame from video. */
  uint8_t* framebuf[NUM_OF_BUFFERED_FRAMES];	/*Pixels of most recent frames (color) */
  int icurr;		/* Index of the current frame. */
  int nhold;		/* Number of hold buffers. */

  /* FIXME: verify when the timestamp will overflow. */
  double timestamp;

  int tp; /*true positive*/
  int fp; /*false positive*/
  int fn; /*false negative*/
  int positives; /*groundtruth*/

  /*The visual rythm images:*/
  int vr_nx;               /*Width of extracted visual rythm and related images.*/
  int vr_ny;               /*Only rows 0..vr_ny-1 of the visual rythm images are defined.*/
  dsm_image_t visual_events; 
  dsm_image_t visual_update; 
  dsm_image_t visual_diff; 
  dsm_image_t visual_rythm0;     /* Y0[t][j]Visual rythm from upstream reference row.*/
  dsm_image_t visual_rythm1;     /* Y1[t][j]Visual rythm from downstream refernce row.*/
  dsm_image_t visual_background; /*F[t][j] = the estimated background for Y1[t][j].*/
  dsm_image_t visual_weights;    /*W[t][j] = the background-rythm similarity weight.*/
  dsm_image_t visual_segmentation;
  dsm_image_t visual_segmentation_band;
  dsm_image_t visual_velx;  /* Estimated velocity along downstream visual rythm row. */
  dsm_image_t visual_vely;  /* Estimated velocity across downstream visual rythm row. */
        
  double *visual_gain;              /*G[t] = estimated camera gain for each frame t.*/  
} dsm_common_data_t;

/* Returns a pointer to the pixels of a recent color frame. The {index}
 should be 0 for the current buffer, 1 for the first past buffer, 2,
 ..., NUM_OF_BUFFERED_FRAMES - 1. */
uint8_t *grab_past_buffer(dsm_common_data_t *cd, int index);

#endif