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#include "precomp.hpp"

namespace cv
{

class GFTTDetector_Impl : public GFTTDetector
{
public:
    GFTTDetector_Impl( int _nfeatures, double _qualityLevel,
                      double _minDistance, int _blockSize,
                      bool _useHarrisDetector, double _k )
        : nfeatures(_nfeatures), qualityLevel(_qualityLevel), minDistance(_minDistance),
        blockSize(_blockSize), useHarrisDetector(_useHarrisDetector), k(_k)
    {
    }

    void set(int prop, double value)
    {
        if( prop == USE_HARRIS_DETECTOR )
            useHarrisDetector = value != 0;
        else
            CV_Error(Error::StsBadArg, "");
    }

    double get(int prop) const
    {
        double value = 0;
        if( prop == USE_HARRIS_DETECTOR )
            value = useHarrisDetector;
        else
            CV_Error(Error::StsBadArg, "");
        return value;
    }

    void detect( InputArray _image, std::vector<KeyPoint>& keypoints, InputArray _mask )
    {
        std::vector<Point2f> corners;

        if (_image.isUMat())
        {
            UMat ugrayImage;
            if( _image.type() != CV_8U )
                cvtColor( _image, ugrayImage, COLOR_BGR2GRAY );
            else
                ugrayImage = _image.getUMat();

            goodFeaturesToTrack( ugrayImage, corners, nfeatures, qualityLevel, minDistance, _mask,
                                 blockSize, useHarrisDetector, k );
        }
        else
        {
            Mat image = _image.getMat(), grayImage = image;
            if( image.type() != CV_8U )
                cvtColor( image, grayImage, COLOR_BGR2GRAY );

            goodFeaturesToTrack( grayImage, corners, nfeatures, qualityLevel, minDistance, _mask,
                                blockSize, useHarrisDetector, k );
        }

        keypoints.resize(corners.size());
        std::vector<Point2f>::const_iterator corner_it = corners.begin();
        std::vector<KeyPoint>::iterator keypoint_it = keypoints.begin();
        for( ; corner_it != corners.end(); ++corner_it, ++keypoint_it )
            *keypoint_it = KeyPoint( *corner_it, (float)blockSize );

    }

    int nfeatures;
    double qualityLevel;
    double minDistance;
    int blockSize;
    bool useHarrisDetector;
    double k;
};


Ptr<GFTTDetector> GFTTDetector::create( int _nfeatures, double _qualityLevel,
                         double _minDistance, int _blockSize,
                         bool _useHarrisDetector, double _k )
{
    return makePtr<GFTTDetector_Impl>(_nfeatures, _qualityLevel,
                                      _minDistance, _blockSize, _useHarrisDetector, _k);
}

}