    // Copyright (C) 2014  Davis E. King (davis@dlib.net)
    // License: Boost Software License   See LICENSE.txt for the full license.
    #ifndef DLIB_TRACK_ASSOCiATION_FUNCTION_Hh_
    #define DLIB_TRACK_ASSOCiATION_FUNCTION_Hh_

    #include "track_association_function_abstract.h"
    #include <vector>
    #include <iostream>
    #include "../algs.h"
    #include "../serialize.h"
    #include "assignment_function.h"

    namespace dlib
    {

    // ----------------------------------------------------------------------------------------

        template <
            typename detection_type
            >
        class feature_extractor_track_association
        {
        public:
            typedef typename detection_type::track_type track_type;
            typedef typename track_type::feature_vector_type feature_vector_type;

            typedef detection_type lhs_element;
            typedef track_type rhs_element;

            feature_extractor_track_association() : num_dims(0), num_nonnegative(0) {}

            explicit feature_extractor_track_association (
                unsigned long num_dims_,
                unsigned long num_nonnegative_
            ) : num_dims(num_dims_), num_nonnegative(num_nonnegative_) {}

            unsigned long num_features(
            ) const { return num_dims; }

            unsigned long num_nonnegative_weights (
            ) const { return num_nonnegative; }

            void get_features (
                const detection_type& det,
                const track_type& track,
                feature_vector_type& feats
            ) const
            {
                track.get_similarity_features(det, feats);
            }

            friend void serialize (const feature_extractor_track_association& item, std::ostream& out)
            {
                serialize(item.num_dims, out);
                serialize(item.num_nonnegative, out);
            }

            friend void deserialize (feature_extractor_track_association& item, std::istream& in)
            {
                deserialize(item.num_dims, in);
                deserialize(item.num_nonnegative, in);
            }

        private:
            unsigned long num_dims;
            unsigned long num_nonnegative;
        };

    // ----------------------------------------------------------------------------------------

        template <
            typename detection_type_
            >
        class track_association_function
        {
        public:

            typedef detection_type_ detection_type;
            typedef typename detection_type::track_type track_type;
            typedef assignment_function<feature_extractor_track_association<detection_type> > association_function_type;

            track_association_function() {}

            track_association_function (
                const association_function_type& assoc_
            ) : assoc(assoc_)
            {
            }

            const association_function_type& get_assignment_function (
            ) const
            {
                return assoc;
            }

            void operator() (
                std::vector<track_type>& tracks,
                const std::vector<detection_type>& dets
            ) const
            {
                std::vector<long> assignments = assoc(dets, tracks);
                std::vector<bool> updated_track(tracks.size(), false);
                // now update all the tracks with the detections that associated to them.
                for (unsigned long i = 0; i < assignments.size(); ++i)
                {
                    if (assignments[i] != -1)
                    {
                        tracks[assignments[i]].update_track(dets[i]);
                        updated_track[assignments[i]] = true;
                    }
                    else
                    {
                        track_type new_track;
                        new_track.update_track(dets[i]);
                        tracks.push_back(new_track);
                    }
                }

                // Now propagate all the tracks that didn't get any detections.
                for (unsigned long i = 0; i < updated_track.size(); ++i)
                {
                    if (!updated_track[i])
                        tracks[i].propagate_track();
                }
            }

            friend void serialize (const track_association_function& item, std::ostream& out)
            {
                int version = 1;
                serialize(version, out);
                serialize(item.assoc, out);
            }
            friend void deserialize (track_association_function& item, std::istream& in)
            {
                int version = 0;
                deserialize(version, in);
                if (version != 1)
                    throw serialization_error("Unexpected version found while deserializing dlib::track_association_function.");

                deserialize(item.assoc, in);
            }

        private:

            assignment_function<feature_extractor_track_association<detection_type> > assoc;
        };

    // ----------------------------------------------------------------------------------------

    }

    #endif // DLIB_TRACK_ASSOCiATION_FUNCTION_Hh_