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#ifndef __OPENCV_ICF_HPP__
#define __OPENCV_ICF_HPP__

#include <opencv2/gpu/device/common.hpp>
#include <stdio.h>

#if defined __CUDACC__
# define __device __device__ __forceinline__
#else
# define __device
#endif


namespace cv { namespace gpu { namespace device {
namespace icf {

struct __align__(16) Octave
{
    ushort index;
    ushort stages;
    ushort shrinkage;
    ushort2 size;
    float scale;

    Octave(const ushort i, const ushort s, const ushort sh, const ushort2 sz, const float sc)
    : index(i), stages(s), shrinkage(sh), size(sz), scale(sc) {}
};

struct __align__(8) Level //is actually 24 bytes
{
    int octave;

    float relScale;
    float shrScale;   // used for marking detection
    float scaling[2]; // calculated according to Dollal paper

    // for 640x480 we can not get overflow
    uchar2 workRect;
    uchar2 objSize;

    Level(int idx, const Octave& oct, const float scale, const int w, const int h);
    __device Level(){}
};

struct __align__(8) Node
{
    uchar4 rect;
    // ushort channel;
    uint threshold;

    enum { THRESHOLD_MASK = 0x0FFFFFFF };

    Node(const uchar4 r, const uint ch, const uint t) : rect(r), threshold(t + (ch << 28))
    {
        // printf("%d\n", t);
        // printf("[%d %d %d %d] %d, %d\n",rect.x, rect.y, rect.z, rect.w, (int)(threshold >> 28),
        //     (int)(0x0FFFFFFF & threshold));
    }
};

struct __align__(16) Detection
{
    ushort x;
    ushort y;
    ushort w;
    ushort h;
    float confidence;
    int kind;

    Detection(){}
    __device Detection(int _x, int _y, uchar _w, uchar _h, float c)
    : x(_x), y(_y), w(_w), h(_h), confidence(c), kind(0) {};
};

struct CascadePolicy
{
    enum {STA_X = 32, STA_Y = 8};
};

template<typename Policy>
struct CascadeInvoker
{
    CascadeInvoker(): levels(0), octaves(0), stages(0), nodes(0), leaves(0) {}
    CascadeInvoker(const PtrStepSzb& _levels, const PtrStepSzb& _octaves, const PtrStepSzf& _stages,
                   const PtrStepSzb& _nodes,  const PtrStepSzf& _leaves)
    : levels((const Level*)_levels.ptr()), octaves((const Octave*)_octaves.ptr()), stages((const float*)_stages.ptr()),
       nodes((const Node*)_nodes.ptr()), leaves((const float*)_leaves.ptr())
    {}

    const Level*  levels;
    const Octave* octaves;

    const float*  stages;

    const Node*   nodes;
    const float*  leaves;

    void operator()(const PtrStepSzb& roi, const PtrStepSzi& hogluv, PtrStepSz<uchar4> objects,
        PtrStepSzi counter, const int downscales, const int csale = -1) const;
};

}
}}}

#endif