#pragma once

#ifndef _EPIPOLAR_SEARCH_H_
#define _EPIPOLAR_SEARCH_H_

#include "oc_array.h"
#include "oc_calibration.h"
#include "oc_dic.h"
#include "oc_icgn.h"
#include "oc_image.h"
#include "oc_poi.h"
#include "oc_point.h"

namespace opencorr
{


	class EpipolarSearch : public DIC
	{
	protected:
		int search_radius; //seaching radius along the epipolar
		int search_step; //step of search along the epipolar
		Calibration view1_cam; //intrinsics and extrinsics of the primary camera
		Calibration view2_cam; //intrinsics and extrinsics of the secondary camera
		Eigen::Matrix3f fundamental_matrix; //fundamental matrix of stereovision system
		Point2D parallax; //parallax of the secondary view with respect to the primary view 
		float parallax_x[3], parallax_y[3]; //linear regression coefficients of parallax with respect to coordinates

	public:
		ICGN2D1* icgn1;

		EpipolarSearch(Calibration& view1_cam, Calibration& view2_cam, int thread_number);
		~EpipolarSearch();

		int getSearchRadius() const;
		int getSearchStep() const;
		void setSearch(int search_radius, int search_step);
		void createICGN(int subset_radius_x, int subset_radius_y, float conv_criterion, float stop_condition);
		void prepareICGN();
		void destoryICGN();

		void setParallax(Point2D parallax);
		void setParallax(float coefficient_x[3], float coefficient_y[3]);

		void updateCameras(Calibration& view1_cam, Calibration& view2_cam);
		void updateFundementalMatrix();

		void prepare();
		void compute(POI2D* poi);
		void compute(std::vector<POI2D>& poi_queue);
	};

}//namespace opencorr

#endif //_EPIPOLAR_SEARCH_H_