import android.graphics.Bitmap;

import com.here.see.common.util.permission.AuthorizationException;
import com.here.see.livesense.manager.LSModelManagerParallel;
import com.here.see.livesense.manager.LSTrackerManagerImpl;
import com.here.see.livesense.domain.Recognition;
import com.here.see.livesense.tracker.TrackedRecognition;

import java.io.IOException;
import java.util.List;

public class RecognitionWithTracking {
    private LSModelManagerParallel managerParallel;
    private LSTrackerManagerImpl trackerManager;

    public void init() {
        // Initialize manager and tracker
        managerParallel = new LSModelManagerParallel(new ManagerListener() {
            @Override
            public void onError(int i, Throwable throwable) {
                android.util.Log.e("Recognition", "Error in inference with modelId: " + i, throwable);
            }

            @Override
            public void onRecognitions(int modelId, int imageId, List<Recognition> list, long runTime) {
                // Process new detections
            }
        });
        trackerManager = new LSTrackerManagerImpl();
        managerParallel.setTrackerManager(trackerManager);
        managerParallel.addModel(LiveSenseModel.ROAD_BASICS, new RoadBasicsModel.Options(), 0.45f);

    }

    public void close() {
        managerParallel.close();
        if (trackerManager != null) {
            trackerManager.close();
        }
    }

    /**
     * @param frame          RGBA8888 image
     * @param frameRotation  Clockwise rotation to reach frame's natural orientation as a multiple of 90 degrees
     */
    public List<TrackedRecognition> recognizeWithTracking(Bitmap frame, byte[] frameLuminance, int frameRotation) {
        // Perform detection
        managerParallel.offerImage(frame, frameRotation);
        // Return current list of tracked recognitions for further processing/display
        return trackerManager.getTrackedObjects();
    }
}