/**
* This file is part of ORB-SLAM3
*
* Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
*
* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
* License as published by the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM3 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 General Public License for more details.
*
* You should have received a copy of the GNU General Public License along with ORB-SLAM3.
* If not, see <http://www.gnu.org/licenses/>.
*/
/* 
 * Copyright (C) 2021, Yubao Liu, AISL, TOYOHASHI UNIVERSITY of TECHNOLOGY 
 * Email: yubao.liu.ra@tut.jp 
 * 
 */

#ifndef TRACKING_H
#define TRACKING_H

#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/video/tracking.hpp>

#include "Atlas.h"
#include "Frame.h"
#include "FrameDrawer.h"
#include "ImuTypes.h"
#include "Initializer.h"
#include "KeyFrameDatabase.h"
#include "LocalMapping.h"
#include "LoopClosing.h"
#include "MapDrawer.h"
#include "ORBVocabulary.h"
#include "ORBextractor.h"
#include "System.h"
#include "Viewer.h"

#include "GeometricCamera.h"

#include <mutex>
#include <unordered_set>

//myx ：接收Time of each request
#include <std_msgs/Float32.h>

namespace ORB_SLAM3 {

class Viewer;
class FrameDrawer;
class Atlas;
class LocalMapping;
class LoopClosing;
class System;

class Tracking {
private:
    /*myx :延时
    ros::NodeHandle nh_;
    ros::Subscriber time_sub_;
    float time_of_request_ = 0;  // 用于存储 /time_of_request 的时间数据
    // 回调函数，用于接收 /time_of_request 的数据
    */
public:
    /*myx :延时
    void timeCallback(const std_msgs::Float32::ConstPtr& msg);  // 回调函数
    */
    Tracking(System* pSys, ORBVocabulary* pVoc, FrameDrawer* pFrameDrawer, MapDrawer* pMapDrawer, Atlas* pAtlas,
        KeyFrameDatabase* pKFDB, const string& strSettingPath, const int sensor, const string& _nameSeq = std::string());

    ~Tracking();

    // Preprocess the input and call Track(). Extract features and performs stereo matching.
    cv::Mat GrabImageStereo(const cv::Mat& imRectLeft, const cv::Mat& imRectRight, const double& timestamp, string filename);
    cv::Mat GrabImageRGBD(const cv::Mat& imRGB, const cv::Mat& imD, const double& timestamp, string filename);
    cv::Mat GrabImageMonocular(const cv::Mat& im, const double& timestamp, string filename);
    // cv::Mat GrabImageImuMonocular(const cv::Mat &im, const double &timestamp);

    void GrabImuData(const IMU::Point& imuMeasurement);

    void SetLocalMapper(LocalMapping* pLocalMapper);
    void SetLoopClosing(LoopClosing* pLoopClosing);
    void SetViewer(Viewer* pViewer);
    void SetStepByStep(bool bSet);

    // Load new settings
    // The focal lenght should be similar or scale prediction will fail when projecting points
    void ChangeCalibration(const string& strSettingPath);

    // Use this function if you have deactivated local mapping and you only want to localize the camera.
    void InformOnlyTracking(const bool& flag);

    void UpdateFrameIMU(const float s, const IMU::Bias& b, KeyFrame* pCurrentKeyFrame);
    KeyFrame* GetLastKeyFrame()
    {
        return mpLastKeyFrame;
    }

    void CreateMapInAtlas();
    std::mutex mMutexTracks;

    //--
    void NewDataset();
    int GetNumberDataset();
    int GetMatchesInliers();

    // semantic
    void SemanticUpdateLocalKeyFrames(KeyFrame& currentKF);
    std::vector<KeyFrame*> mvpSemanticLocalKeyFrames;
    std::vector<MapPoint*> mvpSemanticLocalMapPoints;
    void SemanticUpdateLocalPoints(KeyFrame& currentKF);
    // void SemanticSearchLocalPoints(KeyFrame& currentKF);

public:
    // Tracking states
    enum eTrackingState {
        SYSTEM_NOT_READY = -1,
        NO_IMAGES_YET = 0,
        NOT_INITIALIZED = 1,
        OK = 2,
        RECENTLY_LOST = 3,
        LOST = 4,
        OK_KLT = 5
    };

    eTrackingState mState;
    eTrackingState mLastProcessedState;

    // Input sensor
    int mSensor;

    // Current Frame
    Frame mCurrentFrame;
    Frame mLastFrame;

    cv::Mat mImGray;

    //TODO save color iamge that used for semantic segmentation
    cv::Mat mImRGB;
    Frame* mpCurrentFrame;
    // void SemanticTracking(Frame* lastFrame, Frame* currentFrame);

    // Semantic
    // void SemanticTracking(KeyFrame* lastKF, KeyFrame* currentFrame);
    void PoseOptimization(KeyFrame* currentKF, bool bUpdateMap);
    void PoseGraphOptimizer(KeyFrame* LastKF, KeyFrame* currentKF, bool bUpdateMap);
    void SemanticBA(KeyFrame* currentKF);

    void PredictFeatureProbability(KeyFrame* lastKF, KeyFrame* curKF);
    // void PredictMovingProbability(KeyFrame* lastKF, Frame* curKF);
    void PredictSemanticMask(KeyFrame* lastKF, KeyFrame* currentKF);

    // Initialization Variables (Monocular)
    std::vector<int> mvIniLastMatches;
    std::vector<int> mvIniMatches;
    std::vector<cv::Point2f> mvbPrevMatched;
    std::vector<cv::Point3f> mvIniP3D;
    Frame mInitialFrame;

    // Lists used to recover the full camera trajectory at the end of the execution.
    // Basically we store the reference keyframe for each frame and its relative transformation
    list<cv::Mat> mlRelativeFramePoses;
    list<KeyFrame*> mlpReferences;
    list<double> mlFrameTimes;
    list<bool> mlbLost;

    // frames with estimated pose
    int mTrackedFr;
    bool mbStep;

    // True if local mapping is deactivated and we are performing only localization
    bool mbOnlyTracking;

    void Reset(bool bLocMap = false);
    void ResetActiveMap(bool bLocMap = false);

    float mMeanTrack;
    bool mbInitWith3KFs;
    double t0;    // time-stamp of first read frame
    double t0vis; // time-stamp of first inserted keyframe
    double t0IMU; // time-stamp of IMU initialization

    vector<MapPoint*> GetLocalMapMPS();

    //TEST--
    cv::Mat M1l, M2l;
    cv::Mat M1r, M2r;

    bool mbWriteStats;

protected:
    // Main tracking function. It is independent of the input sensor.
    void Track();

    // Map initialization for stereo and RGB-D
    void StereoInitialization();

    // Map initialization for monocular
    void MonocularInitialization();
    void CreateNewMapPoints();
    cv::Mat ComputeF12(KeyFrame*& pKF1, KeyFrame*& pKF2);
    void CreateInitialMapMonocular();

    void CheckReplacedInLastFrame();
    bool TrackReferenceKeyFrame();
    void UpdateLastFrame();
    bool TrackWithMotionModel();
    bool PredictStateIMU();

    bool Relocalization();

    void UpdateLocalMap();
    void UpdateLocalPoints();
    void UpdateLocalKeyFrames();

    bool TrackLocalMap();
    bool TrackLocalMap_old();
    void SearchLocalPoints();

    bool NeedNewKeyFrame();
    void CreateNewKeyFrame();

    // Perform preintegration from last frame
    void PreintegrateIMU();

    // Reset IMU biases and compute frame velocity
    void ResetFrameIMU();
    void ComputeGyroBias(const vector<Frame*>& vpFs, float& bwx, float& bwy, float& bwz);
    void ComputeVelocitiesAccBias(const vector<Frame*>& vpFs, float& bax, float& bay, float& baz);

    bool mbMapUpdated;

    // Imu preintegration from last frame
    IMU::Preintegrated* mpImuPreintegratedFromLastKF;

    // Queue of IMU measurements between frames
    std::list<IMU::Point> mlQueueImuData;

    // Vector of IMU measurements from previous to current frame (to be filled by PreintegrateIMU)
    std::vector<IMU::Point> mvImuFromLastFrame;
    std::mutex mMutexImuQueue;

    // Imu calibration parameters
    IMU::Calib* mpImuCalib;

    // Last Bias Estimation (at keyframe creation)
    IMU::Bias mLastBias;

    // In case of performing only localization, this flag is true when there are no matches to
    // points in the map. Still tracking will continue if there are enough matches with temporal points.
    // In that case we are doing visual odometry. The system will try to do relocalization to recover
    // "zero-drift" localization to the map.
    bool mbVO;

    //Other Thread Pointers
    LocalMapping* mpLocalMapper;
    LoopClosing* mpLoopClosing;

    //ORB
    ORBextractor *mpORBextractorLeft, *mpORBextractorRight;
    ORBextractor* mpIniORBextractor;

    //BoW
    ORBVocabulary* mpORBVocabulary;
    KeyFrameDatabase* mpKeyFrameDB;

    // Initalization (only for monocular)
    Initializer* mpInitializer;
    bool mbSetInit;

    //Local Map
    KeyFrame* mpReferenceKF;
    std::vector<KeyFrame*> mvpLocalKeyFrames;
    std::vector<MapPoint*> mvpLocalMapPoints;

    // System
    System* mpSystem;

    //Drawers
    Viewer* mpViewer;
    FrameDrawer* mpFrameDrawer;
    MapDrawer* mpMapDrawer;
    bool bStepByStep;

    //Atlas
    Atlas* mpAtlas;

    //Calibration matrix
    cv::Mat mK;
    cv::Mat mDistCoef;
    float mbf;

    //New KeyFrame rules (according to fps)
    int mMinFrames;
    int mMaxFrames;

    int mnFirstImuFrameId;
    int mnFramesToResetIMU;

    // Threshold close/far points
    // Points seen as close by the stereo/RGBD sensor are considered reliable
    // and inserted from just one frame. Far points requiere a match in two keyframes.
    float mThDepth;

    // For RGB-D inputs only. For some datasets (e.g. TUM) the depthmap values are scaled.
    float mDepthMapFactor;

    //Current matches in frame
    int mnMatchesInliers;

    //Last Frame, KeyFrame and Relocalisation Info
    KeyFrame* mpLastKeyFrame;
    unsigned int mnLastKeyFrameId;
    unsigned int mnLastRelocFrameId;
    double mTimeStampLost;
    double time_recently_lost;

    unsigned int mnFirstFrameId;
    unsigned int mnInitialFrameId;
    unsigned int mnLastInitFrameId;

    bool mbCreatedMap;

    //Motion Model
    cv::Mat mVelocity;

    //Color order (true RGB, false BGR, ignored if grayscale)
    bool mbRGB;

    list<MapPoint*> mlpTemporalPoints;

    //int nMapChangeIndex;

    int mnNumDataset;

    ofstream f_track_stats;

    ofstream f_track_times;
    double mTime_PreIntIMU;
    double mTime_PosePred;
    double mTime_LocalMapTrack;
    double mTime_NewKF_Dec;

    GeometricCamera *mpCamera, *mpCamera2;

    int initID, lastID;

    cv::Mat mTlr;

public:
    cv::Mat mImRight;
};

} //namespace ORB_SLAM

#endif // TRACKING_H