/*
 * GStreamer
 * Copyright (C) <2017> Philippe Renon <philippe_renon@yahoo.fr>
 * 
 * Permission is hereby granted, free of charge, to any person obtaining a
 * copy of this software and associated documentation files (the "Software"),
 * to deal in the Software without restriction, including without limitation
 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
 * and/or sell copies of the Software, and to permit persons to whom the
 * Software is furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
 * DEALINGS IN THE SOFTWARE.
 *
 * Alternatively, the contents of this file may be used under the
 * GNU Lesser General Public License Version 2.1 (the "LGPL"), in
 * which case the following provisions apply instead of the ones
 * mentioned above:
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Library General Public
 * License as published by the Free Software Foundation; either
 * version 2 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Library General Public License for more details.
 *
 * You should have received a copy of the GNU Library General Public
 * License along with this library; if not, write to the
 * Free Software Foundation, Inc., 51 Franklin St, Fifth Floor,
 * Boston, MA 02110-1301, USA.
 */

#ifndef __GST_CAMERA_CALIBRATE_H__
#define __GST_CAMERA_CALIBRATE_H__

#include <gst/gst.h>

#include <gst/opencv/gstopencvvideofilter.h>

#include <opencv2/core.hpp>

G_BEGIN_DECLS

#define GST_TYPE_CAMERA_CALIBRATE \
  (gst_camera_calibrate_get_type())
#define GST_CAMERA_CALIBRATE(obj) \
  (G_TYPE_CHECK_INSTANCE_CAST((obj),GST_TYPE_CAMERA_CALIBRATE,GstCameraCalibrate))
#define GST_CAMERA_CALIBRATE_CLASS(klass) \
  (G_TYPE_CHECK_CLASS_CAST((klass),GST_TYPE_CAMERA_CALIBRATE,GstCameraCalibrateClass))
#define GST_IS_CAMERA_CALIBRATE(obj) \
  (G_TYPE_CHECK_INSTANCE_TYPE((obj),GST_TYPE_CAMERA_CALIBRATE))
#define GST_IS_CAMERA_CALIBRATE_CLASS(klass) \
  (G_TYPE_CHECK_CLASS_TYPE((klass),GST_TYPE_CAMERA_CALIBRATE))
typedef struct _GstCameraCalibrate GstCameraCalibrate;
typedef struct _GstCameraCalibrateClass GstCameraCalibrateClass;

enum _GstCameraCalibrationPattern {
    GST_CAMERA_CALIBRATION_PATTERN_CHESSBOARD,
    GST_CAMERA_CALIBRATION_PATTERN_CIRCLES_GRID,
    GST_CAMERA_CALIBRATION_PATTERN_ASYMMETRIC_CIRCLES_GRID
};

struct _GstCameraCalibrate
{
  GstOpencvVideoFilter cvfilter;
  
  // settings
  gint calibrationPattern;     // One of the chessboard, circles, or asymmetric circle pattern
  cv::Size boardSize;          // The size of the board -> Number of items by width and height
  float squareSize;            // The size of a square in your defined unit (point, millimeter,etc).
  float aspectRatio;           // The aspect ratio
  bool cornerSubPix;           //
  bool calibZeroTangentDist;   // Assume zero tangential distortion
  bool calibFixPrincipalPoint; // Fix the principal point at the center
  bool useFisheye;             // use fisheye camera model for calibration
  int nrFrames;                // The number of frames to use from the input for calibration
  int delay;                   // In case of a video input
  bool showUndistorsed;        // Show undistorted images after calibration
  bool showCorners;            // Show corners

  // state
  int flags;
  int mode;
  clock_t prevTimestamp;
  std::vector<std::vector<cv::Point2f>> imagePoints;
  cv::Mat cameraMatrix, distCoeffs;

  // opaque string containing opencv calibration settings
  gchar *settings;
};

struct _GstCameraCalibrateClass
{
  GstOpencvVideoFilterClass parent_class;
};

GType gst_camera_calibrate_get_type (void);

gboolean gst_camera_calibrate_plugin_init (GstPlugin * plugin);

G_END_DECLS
#endif /* __GST_CAMERA_CALIBRATE_H__ */