#include <stdlib.h>
#include <stdio.h>
#include <stdint.h>
#include <string>
#include <openMVG/matching/cascade_hasher.hpp>
#include <openMVG/matching/regions_matcher.hpp>
#include <openMVG/matching_image_collection/Matcher.hpp>
#include <openMVG/matching_image_collection/Matcher_Regions.hpp>
#include <openMVG/matching_image_collection/Pair_Builder.hpp>
#include <openMVG/sfm/pipelines/sfm_regions_provider.hpp>
#include <openMVG/sfm/pipelines/sfm_engine.hpp>
#include <openMVG/sfm/sfm_data_BA_ceres.hpp>
#include <openMVG/features/feature.hpp>
#include <openMVG/features/sift/octaver.hpp>
#include <openMVG/features/sift/SIFT_Anatomy_Image_Describer.hpp>
#include <openMVG/features/sift/sift_DescriptorExtractor.hpp>
#include <openMVG/features/sift/sift_KeypointExtractor.hpp>
#include <openMVG/features/akaze/AKAZE.hpp>
#include <openMVG/image/image_container.hpp>
#include <openMVG/image/image_io.hpp>
#include <openMVG/numeric/numeric.h>
#include <openMVG/tracks/tracks.hpp>
#include <string>
#include <vector>
#include <memory>

#include <openMVG/matching/indMatch.hpp>
#include <openMVG/matching_image_collection/Matcher_Regions.hpp>
#include <openMVG/matching_image_collection/Matcher.hpp>
#include <openMVG/matching/regions_matcher.hpp>
#include <openMVG/sfm/pipelines/sfm_regions_provider.hpp>
#include <openMVG/system/progressinterface.hpp>
#include <openMVG/system/logger.hpp>

#include <iostream>
#include <map>
#include <utility>
#include "./base.hpp"

#ifndef __FRAME_H
#define __FRAME_H

typedef struct _Frame
{
    FILE *stream;
    int w;
    int h;
    int depth;
} Frame;

FILE *make_buffer(const uint8_t *, const size_t);
int read_buffer(FILE *, uint8_t **, size_t *);

#ifdef __cplusplus

typedef Frame CFrame;

namespace DartOpenMvg
{
    openMVG::image::Image<uint8_t> imageFromFrame(const Frame *);

    class Frame
    {
    protected:
        std::stringstream mStream;
        int mW;
        int mH;
        int mDepth;

    public:
        // TODO make this private
        const CFrame *cFrame;
        // TODO make this private
        std::unique_ptr<openMVG::features::Regions> mRegions;
        Frame(const _Frame *f) : mW(f->w), mH(f->h), mDepth(f->depth)
        {
            cFrame = f;
            uint8_t *buffer_data = NULL;
            size_t len = 0;
            read_buffer(f->stream, &buffer_data, &len);
            mStream = std::stringstream(std::string((char *)buffer_data));
        }
        openMVG::image::Image<u_char> getMvgImage();
        void calculateFeatures();
    };

    typedef std::pair<const Frame &, const Frame &> FrameMatchKey;
    typedef std::map<std::pair<size_t, size_t>, openMVG::matching::IndMatches> FrameFeatureMatch;

    class Frames : protected std::vector<DartOpenMvg::Frame>
    {

    protected:
        openMVG::matching::PairWiseMatches mFeatureMap;
        openMVG::tracks::STLMAPTracks mTracks;
        openMVG::sfm::SfM_Data mSfmData;
        openMVG::sfm::Bundle_Adjustment_Ceres mAdjustment;
    public:
        Frames(openMVG::sfm::Bundle_Adjustment_Ceres::BA_Ceres_options &);
        void computeMatches();
        void buildTracks();
        void adjust ();
        void resection ();
        void resectionAll ();
    };
}
#endif

_FFI_PLUGIN
Frame *new_frame_from_handle(FILE *, int, int, int);

_FFI_PLUGIN
Frame *new_frame_from_data(const uint8_t *, const size_t, int, int, int);

void frame_cleanup(Frame *);

#endif // __FRAME_H