#pragma once

#ifndef _FEATURE_AFFINE_H_
#define _FEATURE_AFFINE_H_

#include "oc_array.h"
#include "oc_dic.h"
#include "oc_image.h"
#include "oc_nearest_neighbor.h"
#include "oc_poi.h"
#include "oc_point.h"

namespace opencorr
{
	//parameters in RANSAC
	struct RansacConfig
	{
		int trial_number; //maximum number of trials in RANSAC
		int sample_mumber; //number of samples in every trial
		float error_threshold; //error threshold in RANSAC
	};


	class FeatureAffine2D : public DIC
	{
	private:
		std::vector<NearestNeighbor*> instance_pool;
		NearestNeighbor* getInstance(int tid);

	protected:
		float neighbor_search_radius; //seaching radius for mached keypoints around a POI
		int min_neighbor_num; //minimum number of neighbors required by RANSAC
		RansacConfig ransac_config;

	public:
		std::vector<Point2D> ref_kp; //matched keypoints in ref image
		std::vector<Point2D> tar_kp; //matched keypoints in tar image

		FeatureAffine2D(int radius_x, int radius_y, int thread_number);
		~FeatureAffine2D();

		RansacConfig getRansacConfig() const;
		float getSearchRadius() const;
		int getMinNeighborNumber() const;

		void setSearchParameters(float neighbor_search_radius, int min_neighbor_num);
		void setRansacConfig(RansacConfig ransac_config);

		void setKeypointPair(std::vector<Point2D>& ref_kp, std::vector<Point2D>& tar_kp);
		void prepare();
		void compute(POI2D* poi);
		void compute(std::vector<POI2D>& poi_queue);
	};



	class FeatureAffine3D : public DVC
	{
	private:
		std::vector<NearestNeighbor*> instance_pool;
		NearestNeighbor* getInstance(int tid);

	protected:
		float neighbor_search_radius; //seaching radius for mached keypoints around a POI
		int min_neighbor_num; //minimum number of neighbors required by RANSAC
		RansacConfig ransac_config;

	public:
		std::vector<Point3D> ref_kp; //matched keypoints in ref image
		std::vector<Point3D> tar_kp; //matched keypoints in tar image

		FeatureAffine3D(int radius_x, int radius_y, int radius_z, int thread_number);
		~FeatureAffine3D();

		RansacConfig getRansacConfig() const;
		float getSearchRadius() const;
		int getMinNeighborNumber() const;

		void setSearchParameters(float neighbor_search_radius, int min_neighbor_num);
		void setRansacConfig(RansacConfig ransac_config);

		void setKeypointPair(std::vector<Point3D>& ref_kp, std::vector<Point3D>& tar_kp);
		void prepare();
		void compute(POI3D* poi);
		void compute(std::vector<POI3D>& poi_queue);
	};

}//namespace opencorr

#endif //_FEATURE_AFFINE_H_