/******************************************************************************
* Copyright 2019 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the License);
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an AS IS BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#pragma once

#include <fstream>
#include <map>
#include <memory>
#include <string>

#include "modules/perception/camera/app/perception.pb.h"
#include "modules/perception/camera/common/camera_frame.h"
#include "modules/perception/camera/common/object_template_manager.h"
#include "modules/perception/camera/lib/interface/base_calibration_service.h"
#include "modules/perception/camera/lib/interface/base_calibrator.h"
#include "modules/perception/camera/lib/interface/base_camera_perception.h"
#include "modules/perception/camera/lib/interface/base_feature_extractor.h"
#include "modules/perception/camera/lib/interface/base_init_options.h"
#include "modules/perception/camera/lib/interface/base_lane_detector.h"
#include "modules/perception/camera/lib/interface/base_lane_postprocessor.h"

namespace apollo {
namespace perception {
namespace camera {

class LaneCameraPerception : public BaseCameraPerception {
 public:
  LaneCameraPerception() : lane_detector_(nullptr),
      lane_postprocessor_(nullptr), calibration_service_(nullptr) {
  }
  LaneCameraPerception(
      const LaneCameraPerception &) =  delete;
  LaneCameraPerception &operator=(
      const LaneCameraPerception &) = delete;
  ~LaneCameraPerception() = default;
  bool Init(const CameraPerceptionInitOptions &options) override;
  void InitLane(const std::string &work_root,
      base::BaseCameraModelPtr &model, //NOLINT
      const app::PerceptionParam &perception_param);
  void InitCalibrationService(const std::string &work_root,
      const base::BaseCameraModelPtr model,
      const app::PerceptionParam &perception_param);
  void SetCameraHeightAndPitch(
      const std::map<std::string, float> name_camera_ground_height_map,
      const std::map<std::string, float> name_camera_pitch_angle_diff_map,
      const float &pitch_angle_calibrator_working_sensor);
  bool GetCalibrationService(BaseCalibrationService** calibration_service);
  bool Perception(const CameraPerceptionOptions &options,
      CameraFrame *frame) override;
  std::string Name() const override {
      return "LaneCameraPerception";
  }

 private:
  std::map<std::string, Eigen::Matrix3f> name_intrinsic_map_;
  std::shared_ptr<BaseLaneDetector> lane_detector_;
  std::shared_ptr<BaseLanePostprocessor> lane_postprocessor_;
  std::shared_ptr<BaseCalibrationService> calibration_service_;
  app::PerceptionParam perception_param_;
  std::string lane_calibration_working_sensor_name_ = "";
  bool write_out_lane_file_ = false;
  bool write_out_calib_file_ = false;
  std::string out_lane_dir_;
  std::string out_calib_dir_;
};

}  // namespace camera
}  // namespace perception
}  // namespace apollo