#ifndef OnlineCornerDetector_h__
#define OnlineCornerDetector_h__

#include <vector>
#include <deque>
#include <opencv2/opencv.hpp>

using std::vector;
using std::deque;
using namespace cv;

namespace pagic
{
	class D2CornerDetector;
	class CornerInfo;
	class OnlinePathSmoother;

	class OnlineCornerDetector
	{
	public:
		OnlineCornerDetector();
		CornerInfo* addSample(Point2d pos);
		void addSamples(const vector<Point2d>& posVec);
		void detectCorners(const vector<Point2d>& posVec, vector<CornerInfo*>& corners);

		double getSegmentMaxLength() const { return m_segmentMaxLength; }
		void setSegmentMaxLength(double val) { m_segmentMaxLength = val; }

		deque<Point2d> getPosSegment() const { return m_posSegment; }
		deque<CornerInfo*> getCifVec() const { return m_cifVec; }

		Point2d getReversePos(int i) { return *(m_posSegment.rbegin() + i); }

		Point2d getCurCornerPos() const;

		int getWin() ;
		int getSmoothRadius();

		bool isEnableSmoother() const { return m_enableSmoother; }
		void enableSmoother(bool val) { m_enableSmoother = val; }

		int getStartSampleIdx() const { return m_startSampleIdx; }
		void setStartSampleIdx(int val) { m_startSampleIdx = val; }

		vector<CornerInfo> getRsltCorners() const { return m_rsltCorners; }
		void setRsltCorners(vector<CornerInfo> val) { m_rsltCorners = val; }

        D2CornerDetector* getDet() { return m_pCornerDetector; }

		void clear();

	protected:
		int m_addingCount;
		int m_startSampleIdx;
		
		D2CornerDetector* m_pCornerDetector;
		bool m_enableSmoother;
		
		OnlinePathSmoother* m_pSmoother;

		double m_curSegmentLength;
		double m_segmentMaxLength;
		int m_segmentSampleNum;
		double m_segmentStepLength;

		vector<CornerInfo> m_curCorners;	//buffer saving currently detected corners
		vector<CornerInfo> m_rsltCorners;
		
		void addCurCorner(CornerInfo* pCif);
		CornerInfo* getCurCorner();
		CornerInfo* findBestCorner(vector<CornerInfo>& vec);

		deque<Point2d> m_posSegment;
		void addToPosSegment(const Point2d& pos);
		
		deque<CornerInfo*> m_cifVec;
		deque<double> m_dVec;
		int m_startIdx;
		vector<CornerInfo*> m_DetectedCornerBuf;

		void addResampledPos(Point2d pos, double maxLength);

    public:
		static bool pagicTest();
	};
}

#endif // OnlineCornerDetector_h__