package VisualServo;

import VisualServo.Image.Pixel;

/**
 * BlobTracking performs image processing and tracking for the VisualServo
 * module.  BlobTracking filters raw pixels from an image and classifies blobs,
 * generating a higher-level vision image.
 *
 * @author previous TA's, prentice
 */
public class BlobTracking {

	protected int stepCounter = 0;
	protected double lastStepTime = 0.0;

	public int width;
	public int height;
	public int numChannels = 3;


	// Variables used for velocity controller that are available to calling
	// process.  Visual results are valid only if targetDetected==true; motor
	// velocities should do something sane in this case.
	public boolean targetDetected = false; // set in blobPresent()
	public double centroidX = 0.0; // set in blobPresent()
	public double centroidY = 0.0; // set in blobPresent()
	public double targetArea = 0.0; // set in blobPresent()
	public double targetRange = 0.0; // set in blobFix()
	public double targetBearing = 0.0; // set in blobFix()

	/**
	 * <p>Create a BlobTracking object</p>
	 *
	 * @param image width
	 * @param image height
	 */
	public BlobTracking(int width, int height) {

		this.width = width;
		this.height = height;

	}	
	/**
	 * <p>Computes frame rate of vision processing</p>
	 */
	private void stepTiming() {
		double currTime = System.currentTimeMillis();
		stepCounter++;
		// if it's been a second, compute frames-per-second
		if (currTime - lastStepTime > 1000.0) {
			double fps = (double) stepCounter * 1000.0
			/ (currTime - lastStepTime);
			//System.err.println("FPS: " + fps);
			stepCounter = 0;
			lastStepTime = currTime;
		}
	}

	
	
	
	/**
	 * <p>Segment out a blob from the src image (if a good candidate exists).</p>
	 *
	 * <p><code>dest</code> is a packed RGB image for a java image drawing
	 * routine. If it's not null, the blob is highlighted.</p>
	 *
	 * @param src the source RGB image, not packed
	 * @param dest the destination RGB image, packed, may be null
	 */
	public void apply(Image src, Image dest) {

		stepTiming();  // monitors the frame rate

		// Begin Student Code
		


		// End Student Code
	}
	
	
}