#ifndef POINTCLOUDPROCESSOR_H
#define POINTCLOUDPROCESSOR_H

#include <QObject>
#include <QByteArray>
#include <atomic>
#include <mutex>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <CL/cl.h>

class PointCloudProcessor : public QObject
{
    Q_OBJECT

public:
    explicit PointCloudProcessor(QObject *parent = nullptr);
    ~PointCloudProcessor();

    bool initializeOpenCL();
    void setCameraIntrinsics(float fx, float fy, float cx, float cy);
    void setZScaleFactor(float scale);

    void processDepthData(const QByteArray &depthData, uint32_t blockId);
    void processPointCloudData(const QByteArray &cloudData, uint32_t blockId);

    void setDenoiseEnabled(bool enabled);
    void setDenoiseNeighborSupport(int minNeighbors);
    void setDenoiseLowTailPermille(int permille);
    void setDenoiseDepthBandPermille(int permille);

signals:
    void pointCloudReady(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, uint32_t blockId);
    void errorOccurred(const QString &error);

private:
    pcl::PointCloud<pcl::PointXYZ>::Ptr applyDenoise(const pcl::PointCloud<pcl::PointXYZ>::Ptr &input);
    void loadLowerCalibration();
    void cleanupOpenCL();

    float m_fx;
    float m_fy;
    float m_cx;
    float m_cy;

    float m_zScale;

    int m_imageWidth;
    int m_imageHeight;
    int m_totalPoints;

    cl_platform_id m_platform;
    cl_device_id m_device;
    cl_context m_context;
    cl_command_queue m_queue;
    cl_program m_program;
    cl_kernel m_kernel;
    cl_mem m_depthBuffer;
    cl_mem m_xyzBuffer;
    bool m_clInitialized;

    std::atomic_bool m_denoiseEnabled;
    float m_voxelLeafSize;
    std::atomic_int m_denoiseNeighborSupport;
    std::atomic_int m_denoiseLowTailPermille;
    std::atomic_int m_denoiseDepthBandPermille;

    // Calibration params aligned with lower-machine model
    float m_k1;
    float m_k2;
    float m_p1;
    float m_p2;
    float m_p5;
    float m_p6;
    float m_p7;
    float m_p8;
    bool m_hasLowerCalibration;

    // Temporal stabilizers for denoise to reduce frame-to-frame flicker.
    std::mutex m_denoiseStateMutex;
    bool m_hasAnchorMeanZ;
    float m_anchorMeanZFiltered;
    bool m_hasLowCutZ;
    float m_lowCutZFiltered;
};

#endif // POINTCLOUDPROCESSOR_H