// Copyright (c) 2018, ETH Zurich and UNC Chapel Hill.
// All rights reserved.
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// Author: Johannes L. Schoenberger (jsch at inf.ethz.ch)

#ifndef COLMAP_SRC_CONTROLLERS_AUTOMATIC_RECONSTRUCTION_H_
#define COLMAP_SRC_CONTROLLERS_AUTOMATIC_RECONSTRUCTION_H_

#include <string>

#include "base/reconstruction_manager.h"
#include "util/option_manager.h"
#include "util/threading.h"

namespace colmap {

class AutomaticReconstructionController : public Thread {
 public:
  enum class DataType { INDIVIDUAL, VIDEO, INTERNET };
  enum class Quality { LOW, MEDIUM, HIGH, EXTREME };
  enum class Mesher { POISSON, DELAUNAY };

  struct Options {
    // The path to the workspace folder in which all results are stored.
    std::string workspace_path;

    // The path to the image folder which are used as input.
    std::string image_path;

    // The path to the vocabulary tree for feature matching.
    std::string vocab_tree_path;

    // The type of input data used to choose optimal mapper settings.
    DataType data_type = DataType::INDIVIDUAL;

    // Whether to perform low- or high-quality reconstruction.
    Quality quality = Quality::HIGH;

    // Whether to use shared intrinsics or not.
    bool single_camera = false;

    // Which camera model to use for images.
    std::string camera_model = "SIMPLE_RADIAL";

    // Whether to perform sparse mapping.
    bool sparse = true;

// Whether to perform dense mapping.
#ifdef CUDA_ENABLED
    bool dense = true;
#else
    bool dense = false;
#endif

    // The meshing algorithm to be used.
    Mesher mesher = Mesher::POISSON;

    // The number of threads to use in all stages.
    int num_threads = -1;

    // Whether to use the GPU in feature extraction and matching.
    bool use_gpu = true;

    // Index of the GPU used for GPU stages. For multi-GPU computation,
    // you should separate multiple GPU indices by comma, e.g., "0,1,2,3".
    // By default, all GPUs will be used in all stages.
    std::string gpu_index = "-1";
  };

  AutomaticReconstructionController(
      const Options& options, ReconstructionManager* reconstruction_manager);

  void Stop() override;

 private:
  void Run() override;
  void RunFeatureExtraction();
  void RunFeatureMatching();
  void RunSparseMapper();
  void RunDenseMapper();

  const Options options_;
  OptionManager option_manager_;
  ReconstructionManager* reconstruction_manager_;
  Thread* active_thread_;
  std::unique_ptr<Thread> feature_extractor_;
  std::unique_ptr<Thread> exhaustive_matcher_;
  std::unique_ptr<Thread> sequential_matcher_;
  std::unique_ptr<Thread> vocab_tree_matcher_;
};

}  // namespace colmap

#endif  // COLMAP_SRC_CONTROLLERS_AUTOMATIC_RECONSTRUCTION_H_
