#include <opencv2/opencv.hpp>
#include <opencv2/core.hpp>
#include <opencv2/videoio.hpp>
#include <queue>
#include <mutex>

#define BUFFER_SIZE 50
typedef std::pair<cv::Mat, double> InfraredImagePair; 

class InfraredManager
{
    public:
        InfraredManager() = default;
        ~InfraredManager()= default;
        
        // init
        void init(std::string infraredStreamPath);
        // open the stream
        void openStream();

        // a thread to get the infrared image
        static void getInfraredImageThread(InfraredManager* infraredManager);

    private:
        
        std::string m_infraredStreamPath;
        // infrared stream
        cv::VideoCapture m_infraredStream;
        // infrared stream width
        int m_infraredStreamWidth;
        // infrared stream height
        int m_infraredStreamHeight;
        // infrared stream fps
        int m_infraredStreamFps;
        // get the timestamp of the infrared image
        double m_infraredImageTimestamp;
        // a buffer to store the timestamp of the infrared image
        std::queue<InfraredImagePair> m_infraredImageTimestampBuffer;

        cv::Mat m_infraredImage;

        // a mutex
        std::mutex m_mutex;

        // a switch to control the thread
        bool m_getInfraredImageThreadSwitch;

};