#ifndef ARMORDETECTOR_H
#define ARMORDETECTOR_H

#include <opencv2/opencv.hpp>
#include <vector>
#include <string>
#include "config.h"

struct LightBar {
    cv::Point2f center;
    cv::Size2f size;
    float angle;          // in degrees
    float angle_rad;      // in radians
    float area;
    std::vector<cv::Point2f> center_line;  // [end1, end2]
    float center_line_length;
    std::vector<cv::Point2f> box;
};

struct ArmorPlate {
    std::string color;
    cv::Point2f center;
    double confidence;
    std::pair<LightBar, LightBar> pair;
    std::vector<cv::Point2f> corners_2d;  // Can be computed later for 3D pose

    // Function to get bounding rectangle of the armor plate
    cv::Rect2d getBoundingRect() const {
        if (corners_2d.size() >= 4) {
            cv::Point2f min_pt = corners_2d[0];
            cv::Point2f max_pt = corners_2d[0];
            for (const auto& pt : corners_2d) {
                min_pt.x = std::min(min_pt.x, pt.x);
                min_pt.y = std::min(min_pt.y, pt.y);
                max_pt.x = std::max(max_pt.x, pt.x);
                max_pt.y = std::max(max_pt.y, pt.y);
            }
            return cv::Rect2d(min_pt.x, min_pt.y, max_pt.x - min_pt.x, max_pt.y - min_pt.y);
        }
        // Fallback: use center and a fixed size
        return cv::Rect2d(center.x - 30, center.y - 15, 60, 30);
    }
};

class ArmorDetector {
public:
    ArmorDetector();
    
    // Main detection function
    void detect(const cv::Mat& mask, const std::string& target_color, 
                std::vector<LightBar>& valid_light_bars, 
                std::vector<ArmorPlate>& armor_plates);

private:
    float angle_threshold_rad;
    
    // Helper methods
    std::vector<LightBar> extract_initial_light_bars(const cv::Mat& mask);
    std::vector<std::vector<cv::Point2f>> merge_nearby_light_bars(const std::vector<LightBar>& initial_light_bars);
    std::vector<LightBar> filter_valid_light_bars(const std::vector<std::vector<cv::Point2f>>& processed_boxes);
    std::vector<ArmorPlate> pair_light_bars_to_armor(const std::vector<LightBar>& light_bars, const std::string& target_color);
    double calculate_iou(const cv::Rect& b1, const cv::Rect& b2);
};

#endif // ARMORDETECTOR_H