#pragma once

#include "engines/engine.h"

#include <string>

namespace engines {

struct DetectionConfig {
    std::string model = "MULTI_CLASS_BOX_MEDIUM";
    float confidence_threshold = 40.0f;
    bool tracking = false;

    static DetectionConfig from_env();
};

class ZedNative : public Engine {
public:
    explicit ZedNative(const DetectionConfig& config);

    void enable(sl::Camera& camera) override;
    void detect(sl::Camera& camera) override;
    const std::vector<DetectedObject>& objects() const override;
    std::string label_names() const override;

private:
    DetectionConfig config_;
    sl::ObjectDetectionParameters det_params_;
    sl::ObjectDetectionRuntimeParameters det_rt_params_;
    sl::Objects raw_objects_;
    std::vector<DetectedObject> detected_;
};

} // namespace engines