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/*
 * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * 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.
 */

package boofcv.abst.tracker;

import georegression.struct.point.Point2D_F64;
import org.jetbrains.annotations.Nullable;

import java.util.ArrayList;
import java.util.List;

/**
 * Current location of feature in a {@link PointTracker}.
 *
 * @author Peter Abeles
 */
@SuppressWarnings({"NullAway.Init"})
public class PointTrack {
	/** Location of the track in the image */
	public final Point2D_F64 pixel = new Point2D_F64();

	/** The type of feature it belongs to */
	public int detectorSetId;

	/** Unique ID associated with this feature */
	public long featureId;

	/** User specified data */
	public Object cookie;

	/** The frame the track was spawned at */
	public long spawnFrameID;

	/** The last frame the track was seen at */
	public long lastSeenFrameID;

	/** Description of this feature that is used internally. Don't mess with this */
	private Object description;

	public PointTrack( double x, double y, long featureId ) {
		this.pixel.setTo(x, y);
		this.featureId = featureId;
	}

	public PointTrack() {}

	public static List extractTrackPixels( @Nullable List storage,
														List tracks ) {
		if (storage == null)
			storage = new ArrayList<>();
		else
			storage.clear();

		for (int i = 0; i < tracks.size(); i++) {
			storage.add(tracks.get(i).pixel);
		}

		return storage;
	}

	public void setTo( PointTrack t ) {
		featureId = t.featureId;
		spawnFrameID = t.spawnFrameID;
		lastSeenFrameID = t.lastSeenFrameID;
		pixel.setTo(t.pixel);
		cookie = t.cookie;
		description = t.description;
	}

	@SuppressWarnings({"NullAway"})
	public void reset() {
		lastSeenFrameID = -1;
		spawnFrameID = -1;
		featureId = -1;
		cookie = null;
		description = null;
	}

	public  T getCookie() {
		return (T)cookie;
	}

	public  T getDescription() {
		return (T)description;
	}

	public void setDescription( Object description ) {
		this.description = description;
	}

	public void setCookie( Object cookie ) {
		this.cookie = cookie;
	}
}