#ifndef DEPTHGUIDE_DEPTH_GUIDE_V2_H
#define DEPTHGUIDE_DEPTH_GUIDE_V2_H

#include "core/object_manager.h"
#include "device/orb_camera_ui.h"
#include "module_v3/registration.h"
#include "module/augment_manager_v2.h"
#include "module/camera_augment_helper_v2.h"
#include "module/guidance/cursor_guide.h"
#include "module/image_augment_helper.h"
#include "module/image_streamer.h"
#include "impl/app_base.h"

#include <boost/asio/io_context.hpp>

class app_depth_guide_v2 : public app_base {
public:

    explicit app_depth_guide_v2(const create_config &conf);

    ~app_depth_guide_v2() override;

    const char *window_name() override { return "DepthGuide V2.-1"; }

    void show_ui() override;

    void render_background() override;

private:

    void start_tracking();

    enum obj_names : object_manager::name_type {

        // images from device
        img_color, img_depth, img_remap,

        // point cloud from device
        pc_raw,

        // output scene
        scene_out,

        // output image
        img_out_left, img_out_right,
        img_out,

        name_end,
    };

    create_config main_conf;
    obj_name_type extra_name = name_end;

    // sophiar
    std::unique_ptr<sophiar_conn_type> sophiar_conn;
    std::unique_ptr<std::thread> sophiar_thread;
    std::string sophiar_start_var;

    // modules
    std::unique_ptr<orb_camera_ui> orb_cam;
    std::unique_ptr<image_streamer> out_streamer;

    std::unique_ptr<augment_manager_v2> aug_manager;
    std::unique_ptr<camera_augment_helper_v2> aug_helper;
    std::unique_ptr<cursor_guide> aug_guide;

    static constexpr auto baseline_dis = 65.0f; // mm
    std::unique_ptr<camera_augment_helper_v2> aug_left;
    std::unique_ptr<camera_augment_helper_v2> aug_right;
    std::unique_ptr<stereo_augment_helper> aug_stereo;

    bool enable_reg = false;
    std::unique_ptr<registration> reg;

};


#endif //DEPTHGUIDE_DEPTH_GUIDE_V2_H