#include <gst/gst.h>
#include <gst/app/gstappsink.h>
#include <sstream>
#include <format>
#include <gst/video/gstvideometa.h>
#include <cstdlib>
#include <deque>
#include <iostream>
#include <mutex>
#include <fstream>

#include "osc/OscOutboundPacketStream.h"
#include "ip/UdpSocket.h"

#include "System.h"

// CHANGE HERE TO MAKE PORT 
#define ADDRESS "127.0.0.1"
#define PORT 7000

#define OUTPUT_BUFFER_SIZE 1024

#define MY_GST_USE_OPENCV

#ifdef MY_GST_USE_OPENCV
#include "opencv2/opencv.hpp"

// TODO: use synchronized deque
std::mutex g_mutex;
std::deque<cv::Mat> frameQueue;
#endif // MY_GST_USE_OPENCV

cv::Mat& extract_rot(cv::Mat& rot, const cv::Mat& trans) {
    // cv::Mat rot(3, 3, CV_32F, 0.0);
    for (int row = 0; row < 3; ++row) {
        for (int col = 0; col < 3; ++col) {
            rot.at<float>(row, col) = trans.at<float>(row, col);
        }
    }
    return rot;
}

pair<float, vector<float>> extract_deg(const cv::Mat& rotation_matrix) {
    // TODO: extract_deg is producing negative values. Fix it.
    float degrees;
    vector<float> myvec = { rotation_matrix.at<float>(1, 2) - rotation_matrix.at<float>(2,1), rotation_matrix.at<float>(2, 0) - rotation_matrix.at<float>(0, 2), rotation_matrix.at<float>(0, 1) - rotation_matrix.at<float>(1, 0) };

    float trace;
    trace = rotation_matrix.at<float>(0, 0) + rotation_matrix.at<float>(1, 1) + rotation_matrix.at<float>(2, 2);
    //    cout << "a11 is: " << rotation_matrix.at<float>(0, 0) << " a22 is: " << rotation_matrix.at<float>(1, 1) << " a33 is: " << rotation_matrix.at<float>(2, 2) << endl;
    //    cout << "x is: " << (trace - 1) / 2 << endl;
    degrees = acos((trace - 1) / 2);
    //    cout << "Calc degrees (from function) is: " << degrees << endl;

    pair<float, vector<float>> result = { degrees, myvec };
    return result;
}

vector<float> find_mode(const vector<vector<float>>& vec_of_rot_axes) {
    cout << "Hello! This is find_mode() function" << endl;
    int index = 0, counter = 0, max_counted = 0;
    vector<float> el;
    for (int i = 0; i < vec_of_rot_axes.size(); i++) {
        el = vec_of_rot_axes[i];

        cout << "Extracted el is: ";
        for (auto e : el) {
            cout << " " << e << " ";
        }
        cout << endl;

        for (const auto& vec_of_rot_axe : vec_of_rot_axes) {
            if (el == vec_of_rot_axe) {
                cout << "Entered if (el == vec_of_rot_axe) statement" << endl;
                counter += 1;
            }
        }
        if (counter > max_counted) {
            // cout << "Found new max element. Index is: " << index << "; i is: " << i << endl;
            index = i;
            max_counted = counter;
        }
    }
    cout << "Index is: " << index << "; And arr size is: " << vec_of_rot_axes.size() << endl;
    return vec_of_rot_axes[index];
}

GstFlowReturn new_preroll(GstAppSink* appsink, gpointer data) {
    g_print("Got preroll!\n");
    return GST_FLOW_OK;
}

GstFlowReturn new_sample(GstAppSink* appsink, gpointer data) {
    static int framecount = 0;
    framecount++;

    std::cout << "nnew frame " << framecount << std::endl;

    GstSample* sample = gst_app_sink_pull_sample(appsink);
    GstCaps* caps = gst_sample_get_caps(sample);
    GstBuffer* buffer = gst_sample_get_buffer(sample);

    const auto& n_memory = gst_buffer_n_memory(buffer);
    std::cout << "n_memory = " << n_memory << std::endl;
    std::cout << "buffer->pts = " << buffer->pts << std::endl;
    std::cout << "buffer->dts = " << buffer->dts << std::endl;
    std::cout << "buffer->duration = " << buffer->duration << std::endl;
    std::cout << "buffer->offset = " << buffer->offset << std::endl;
    std::cout << "buffer->offset_end = " << buffer->offset_end << std::endl;

    const GstStructure* info = gst_sample_get_info(sample);

    GstMeta* gst_meta;
    gpointer state = nullptr;
    while ((gst_meta = gst_buffer_iterate_meta(buffer, &state))) {
        if (gst_meta->info == gst_video_caption_meta_get_info()) {
            auto specific_meta = (GstVideoCaptionMeta*)gst_meta;
            if (specific_meta) {
                auto x = (const char*)(specific_meta->data);
                std::cout << "MetaInfo is recognized to be [GstVideoCaptionMeta]"
                    << "caption = " << std::string(x, specific_meta->size)
                    << std::endl;
            }
        }
        else if (gst_meta->info == gst_video_time_code_meta_get_info()) {
            auto specific_meta = (GstVideoTimeCodeMeta*)gst_meta;
            if (specific_meta) {
                std::cout << "MetaInfo is recognized to be [GstVideoTimeCodeMeta]"
                    << " h = " << specific_meta->tc.hours
                    << " m = " << specific_meta->tc.minutes
                    << " s = " << specific_meta->tc.seconds
                    << " f = " << specific_meta->tc.frames
                    << std::endl;
            }
        }
        else if (gst_meta->info == gst_meta_get_info("GstNdiSrcMeta")) {
            std::cout << "MetaInfo is recognized to be [GstNdiSrcMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstNdiSinkAudioMeta")) {
            std::cout << "MetaInfo is recognized to be [GstNdiSinkAudioMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstVideoMeta")) {
            std::cout << "MetaInfo is recognized to be [GstVideoMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstVideoCropMeta")) {
            std::cout << "MetaInfo is recognized to be [GstVideoCropMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstFramePositionerMeta")) {
            std::cout << "MetaInfo is recognized to be [GstFramePositionerMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstMetaDfbSurface")) {
            std::cout << "MetaInfo is recognized to be [GstMetaDfbSurface]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstSubtitleMeta")) {
            std::cout << "MetaInfo is recognized to be [GstSubtitleMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstRtmpMeta")) {
            std::cout << "MetaInfo is recognized to be [GstRtmpMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstMpegVideoMeta")) {
            std::cout << "MetaInfo is recognized to be [GstMpegVideoMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstSctpReceiveMeta")) {
            std::cout << "MetaInfo is recognized to be [GstSctpReceiveMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstSctpSendMeta")) {
            std::cout << "MetaInfo is recognized to be [GstSctpSendMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstCoreMediaMeta")) {
            std::cout << "MetaInfo is recognized to be [GstCoreMediaMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstCoreVideoMeta")) {
            std::cout << "MetaInfo is recognized to be [GstCoreVideoMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstAudioDownmixMeta")) {
            std::cout << "MetaInfo is recognized to be [GstAudioDownmixMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstAudioClippingMeta")) {
            std::cout << "MetaInfo is recognized to be [GstAudioClippingMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstGLSyncMeta")) {
            std::cout << "MetaInfo is recognized to be [GstGLSyncMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstRTPSourceMeta")) {
            std::cout << "MetaInfo is recognized to be [GstRTPSourceMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstRTPSourceMeta")) {
            std::cout << "MetaInfo is recognized to be [GstRTPSourceMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstVideoGLTextureUploadMeta")) {
            std::cout << "MetaInfo is recognized to be [GstVideoGLTextureUploadMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstVideoRegionOfInterestMeta")) {
            std::cout << "MetaInfo is recognized to be [GstVideoRegionOfInterestMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstVideoAFDMeta")) {
            std::cout << "MetaInfo is recognized to be [GstVideoAFDMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstVideoBarMeta")) {
            std::cout << "MetaInfo is recognized to be [GstVideoBarMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstVideoMultiviewMeta")) {
            std::cout << "MetaInfo is recognized to be [GstVideoMultiviewMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstVideoOverlayCompositionMeta")) {
            std::cout << "MetaInfo is recognized to be [GstVideoOverlayCompositionMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstMetaXImage")) {
            std::cout << "MetaInfo is recognized to be [GstMetaXImage]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstProtectionMeta")) {
            std::cout << "MetaInfo is recognized to be [GstProtectionMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstNetControlMessageMeta")) {
            std::cout << "MetaInfo is recognized to be [GstNetControlMessageMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstMetaTest")) {
            std::cout << "MetaInfo is recognized to be [GstMetaTest]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstNVMMParentMeta")) {
            std::cout << "MetaInfo is recognized to be [GstNVMMParentMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstAudioMeta")) {
            std::cout << "MetaInfo is recognized to be [GstAudioMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstAudioLevelMeta")) {
            std::cout << "MetaInfo is recognized to be [GstAudioLevelMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstVideoAffineTransformationMeta")) {
            std::cout << "MetaInfo is recognized to be [GstVideoAffineTransformationMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("GstVideoCodecAlphaMeta")) {
            std::cout << "MetaInfo is recognized to be [GstVideoCodecAlphaMeta]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("XXX")) {
            std::cout << "MetaInfo is recognized to be [XXX]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("XXX")) {
            std::cout << "MetaInfo is recognized to be [XXX]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("XXX")) {
            std::cout << "MetaInfo is recognized to be [XXX]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("XXX")) {
            std::cout << "MetaInfo is recognized to be [XXX]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("XXX")) {
            std::cout << "MetaInfo is recognized to be [XXX]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("XXX")) {
            std::cout << "MetaInfo is recognized to be [XXX]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("XXX")) {
            std::cout << "MetaInfo is recognized to be [XXX]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("XXX")) {
            std::cout << "MetaInfo is recognized to be [XXX]"
                << std::endl;
        }
        else if (gst_meta->info == gst_meta_get_info("XXX")) {
            std::cout << "MetaInfo is recognized to be [XXX]"
                << std::endl;
        }
        else {
            std::cout << "GstMetaInfo is not recognized."
                << " info = " << gst_meta->info
                << " api = " << gst_meta->info->api
                << std::endl;
        }
    }

    // ---- Read frame and convert to opencv format ---------------

    GstMapInfo map;
    gst_buffer_map(buffer, &map, GST_MAP_READ);

#ifdef MY_GST_USE_OPENCV
    // convert gstreamer data to OpenCV Mat, you could actually
    // resolve height / width from caps...

    int width = 2560;
    int height = 1440;

    GstStructure* s = gst_caps_get_structure(caps, 0);
    gboolean res = true;
    res &= gst_structure_get_int(s, "width", &width);
    res &= gst_structure_get_int(s, "height", &height);

    cv::Mat frame(cv::Size(width, height), CV_8UC4, (char*)map.data, cv::Mat::AUTO_STEP);

    {
        std::lock_guard<std::mutex> guard(g_mutex);
        frameQueue.push_back(frame.clone());
    }
#endif

    gst_buffer_unmap(buffer, &map);

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

    // print dot every 30 frames
    if (framecount % 30 == 0) {
        g_print(".");
    }

    // show caps on first frame
    if (framecount == 1) {
        g_print("%s\n", gst_caps_to_string(caps));
    }

    gst_sample_unref(sample);
    return GST_FLOW_OK;
}

static gboolean my_bus_callback(GstBus* bus, GstMessage* message, gpointer data) {
    g_print("Got %s message\n", GST_MESSAGE_TYPE_NAME(message));
    switch (GST_MESSAGE_TYPE(message)) {
    case GST_MESSAGE_ERROR: {
        GError* err;
        gchar* debug;

        gst_message_parse_error(message, &err, &debug);
        g_print("Error: %s\n", err->message);
        g_error_free(err);
        g_free(debug);
        break;
    }
    case GST_MESSAGE_EOS: {
        /* end-of-stream */
        break;
    } default: {
        /* unhandled message */
        break;
    }
    }
    /* we want to be notified again the next time there is a message
     * on the bus, so returning TRUE (FALSE means we want to stop watching
     * for messages on the bus and our callback should not be called again)
     */
    return TRUE;
}

static gint repeats = 2;
static gchar* ndi_name = nullptr;
static gint use_gui = 0;
static gboolean beep = FALSE;

static GOptionEntry entries[] =
{
        { "repeats", 'r', 0, G_OPTION_ARG_INT, &repeats,      "Среднее число повторений N",               "N" },
        { "ndi-name", 'n', 0, G_OPTION_ARG_STRING, &ndi_name, "you can enter the string here (ndi-name)", "M" },
        { "gui", 'g', 0, G_OPTION_ARG_INT, &use_gui,         "use gui",                                  nullptr },
        { "beep", 'b', 0, G_OPTION_ARG_NONE, &beep,           "Сигнал при выполнениии", NULL },
        { NULL }
};

int main(int argc, char* argv[]) {
    //if (argc != 4)
    //{
    //    cerr << endl << "Usage: ./mono_video path_to_vocabulary path_to_settings source_ndi" << endl;
    //    return 1;
    //}


    // INTPUT PARAMETERS: PATH_TO_EXE path_to_vocabulary path_to_settings source_ndi
    // TODO: DON'T FORGET TO CHANGE THE run_gst_loopthrough_capture.cmd SCRIPT
    std::cout << "argc = " << argc << std::endl;
    GError* error = nullptr;
    GOptionContext* context;

    context = g_option_context_new("- test tree model performance");
    g_option_context_add_main_entries(context, entries, "bla");

    char** argv_gst;
    argv_gst = new char* [2];
    argv_gst[0] = new char[200];
    argv_gst[1] = new char[200];

    strcpy(argv_gst[0], argv[0]);
    strcpy(argv_gst[1], argv[3]);

    // QUESTION 1.
    g_option_context_parse(context, &argc - 2, &argv_gst, &error);

    g_option_context_parse(context, &argc, &argv, &error);

    if (!ndi_name) {
        std::cout << "ndi-name is not provided" << std::endl;
        ndi_name = (char*)malloc(sizeof(char) * 100);
        // ndi_name = "DESKTOP - O5PNOBN(Test Pattern)";
        std::cout << "ndi-name (default) = '" << ndi_name << "'" << std::endl;
    }
    else {
        std::cout << "ndi-name = '" << ndi_name << "'" << std::endl;
    }

    GstStateChangeReturn ret;

    int fake_argc = 1;
    gst_init(&fake_argc, &argv);

    std::stringstream ss;
    ss << "ndisrc ndi-name=\"" << ndi_name << "\" ! ndisrcdemux name=demux "
        << "demux.video ! queue ! tee name=my_tee "
        << "my_tee. ! queue ! videoconvert ! autovideosink "
        << "my_tee. ! queue ! videoconvert ! appsink name=my_sink";
    std::string my_pipeline = ss.str();


    GstElement* pipeline = gst_parse_launch(my_pipeline.c_str(), nullptr);


             /* get sink */
    GstElement* sink = gst_bin_get_by_name(GST_BIN(pipeline), "my_sink");

    gst_app_sink_set_emit_signals((GstAppSink*)sink, true);
    gst_app_sink_set_drop((GstAppSink*)sink, true);
    gst_app_sink_set_max_buffers((GstAppSink*)sink, 1);
    GstAppSinkCallbacks callbacks = { NULL, new_preroll, new_sample };
    gst_app_sink_set_callbacks(GST_APP_SINK(sink), &callbacks, NULL, NULL);

    GstBus* bus;
    guint bus_watch_id;
    bus = gst_pipeline_get_bus(GST_PIPELINE(pipeline));
    bus_watch_id = gst_bus_add_watch(bus, my_bus_callback, NULL);
    gst_object_unref(bus);

    /* Start playing */
    ret = gst_element_set_state(pipeline, GST_STATE_PLAYING);
    if (ret == GST_STATE_CHANGE_FAILURE) {
        g_printerr("Unable to set the pipeline to the playing state.\n");
        gst_object_unref(pipeline);
        return -1;
    }

#ifdef MY_GST_USE_OPENCV
    auto lambda_1 = [](char** argv) {

        // --------------------------------- SLAM SYSTEM VARIABLES ---------------------------------

       // Create SLAM system. It initializes all system threads and gets ready to process frames.
        ORB_SLAM3::System SLAM(argv[1], argv[2], ORB_SLAM3::System::MONOCULAR, false);

        std::printf("SLAM system initialized\n");

        // Main loop
        cv::Mat frame;

        int cnt = 0;
        const double time_step = 1.0;
        double ts = 0;
        char matrix_name[100];
        vector<float> vec_of_deg, values;
        vector<vector<float>> vec_of_rot_axis;

        // ---- INITIALIZE FOR THE PROCESSING OF AXIS LOSS AND FOR THE AXIS VECTOR INFORMATION ----
        float skew1 = 0.0;
        float DIFF_TO_CENTER = 0.0;
        float curr_deg; // later I'll assign the exact value
        vector<float> curr_vec;
        vector<float> mode1, mode2;

        vector<vector<float>> accum, accum2;
        int counter2, j = 0;
        std::cout << "J is: " << j;
        vector<float> mode_vec, mode_vec2; // 2 вектора, для аккумуляции слева и справа
        // zero_flag - индикатор, что текущий элемент пошёл в обратную сторону (около нуля)
        // mirror_flag - значения на данный момент должны отражаться
        bool zero_flag, mirror_flag = false;
        float mirror_point = 0.0;

        // --------------------------------- SLAM SYSTEM VARIABLES ---------------------------------

        // Let's do two steps outside the loop.
        for (int i = 1; i <= 2; i++) {

            if (use_gui) {
                cv::namedWindow("preview", 1);
            }
            else {
                // cv::namedWindow("no preview", 1);
            }
            cv::Mat frame;

            char* buffer = nullptr;

            // EXTRACTING FRAME HERE.
            {
                std::lock_guard<std::mutex> guard(g_mutex);
                if (frameQueue.size() > 0) {
                    frame = frameQueue.front();
                    frameQueue.pop_front();
                    std::cout << "we have a frame to process..." << std::endl;
                }
            }

            cv::Mat Tcw = SLAM.TrackMonocular(frame, ts, vector<ORB_SLAM3::IMU::Point>(), "");
            cv::Mat Rot(3, 3, CV_32F, 0.0);
            std::cout << Tcw << std::endl;

            if (!Tcw.empty()) {
                sprintf(matrix_name, "matrix%d", cnt);
                extract_rot(Rot, Tcw);
                // cout << "Extracted rotation matrix is: " << Rot;
                auto deg_vec = extract_deg(Rot);

                // QUESTION 2.
                curr_deg = -deg_vec.first * 57.29;
                // TODO: Invert curr_vec too. (put the minus sign to each element). (You can define the - operator fot the vector).
                curr_vec = deg_vec.second;
                cout << "Successfully created curr_deg and curr_vec" << endl;

                // LET'S DEFINE CONSTANT TO ZERO OUT THE START
                if (i == 1) {
                    DIFF_TO_CENTER = 0.0;
                }

                vec_of_deg.push_back(curr_deg - DIFF_TO_CENTER);
                vec_of_rot_axis.push_back(curr_vec);
                values.push_back(curr_deg - DIFF_TO_CENTER);
                cout << "Successfully pushed to the vectors " << endl;

                //cout << curr_deg - DIFF_TO_CENTER << " " << curr_vec[0] << " " << curr_vec[1] << " " << curr_vec[2] << endl;
                // SEND THE RESULT THROUGH OSC
                //outfile << curr_deg - DIFF_TO_CENTER << " " << curr_vec[0] << " " << curr_vec[1] << " " << curr_vec[2] << endl;
                cout << "Successfully written to the file" << endl;
                j++;
            }
            cnt++;
            ts += time_step;
        }


        while (true) {

            cv::Mat frame;

            char* buffer = nullptr;

            {
                std::lock_guard<std::mutex> guard(g_mutex);
                if (frameQueue.size() > 0) {
                    frame = frameQueue.front();
                    frameQueue.pop_front();
                    std::cout << "we have a frame to process..." << std::endl;

                    if (!frame.empty()) {

                        cv::Mat Tcw = SLAM.TrackMonocular(frame, ts, vector<ORB_SLAM3::IMU::Point>(), "");
                        cv::Mat Rot(3, 3, CV_32F, 0.0);
                        std::cout << Tcw << std::endl;
                        if (!Tcw.empty()) {
                            sprintf(matrix_name, "matrix%d", cnt);
                            extract_rot(Rot, Tcw);
                            // cout << "Extracted rotation matrix is: " << Rot;
                            // Extract the degree and the vector from the rotation matrix.
                            auto deg_vec = extract_deg(Rot); // returns a degree and a vector of rotation.

                            float new_deg = -deg_vec.first * 57.29 - DIFF_TO_CENTER;
                            vector<float> new_vec = deg_vec.second;
                            cout << "Successfully created curr_deg and curr_vec" << endl;

                            vec_of_deg.push_back(new_deg);
                            vec_of_rot_axis.push_back(new_vec);
                            j++;
                            cout << "Pushed to the vectors. Line 207" << endl;

                            // ---- II PART OF THE PROCESSING ----

                            // TODO: II PART OF PROCESSING MIRRORED FIRST CHANGE, BUT NOT THE REST.

                            // Если текущий градус больше epsilon = 5, то zero_flag = false
                            // Can cause a problem, when accumulating values after turning on the zero_flag.
                            // TODO: accum2 is full when the zero_flag enables, which is bad. work on that.
                            if (zero_flag) {
                                if ((vec_of_deg[j - 1] < -5 || vec_of_deg[j - 1] > 5) && accum2.size() == 5) {
                                    zero_flag = false;
                                }
                            }

                            if (zero_flag) { cout << "Zero flag is: true" << endl; }
                            else { cout << "Zero flag is: false" << endl; }

                            // Если нет zero_flag, а в accum2 что-то есть, то опустошим его.
                            if (!(zero_flag) && !accum2.empty()) { accum2 = {}; }

                            // Сохраняем последние 5 значений векторов
                            if (!zero_flag) {
                                cout << "Line 211 ok..." << endl;
                                if (accum.size() == 5) {
                                    cout << "Accum size = 5." << endl;
                                    accum.erase(accum.begin());
                                    cout << "Line 215 ok..." << endl;
                                    accum.push_back(vec_of_rot_axis[j - 1]);
                                    cout << "Line 217 ok..." << endl;
                                }
                                else {
                                    cout << "Accum size != 5." << endl;
                                    cout << "j is: " << j << " len of vec_of_rot_axis is: " << vec_of_rot_axis.size() << endl;
                                    accum.push_back(vec_of_rot_axis[j - 1]);
                                    cout << "Line 223 ok..." << endl;
                                }
                            }
                            // Найдем элемент, который начал расти, а не убывать около нуля
                            if (!zero_flag) {
                                if (vec_of_deg[j - 1] > -5 && vec_of_deg[j - 1] < 5) {
                                    // Если нынешний элемент уже не меньше предыдущего, а предыдущая разность тоже около нуля, при этом абсолютная разность между градусами больше, чем 0.01
                                    if (abs(vec_of_deg[j - 1]) >= abs(vec_of_deg[j - 2]) && (abs(vec_of_deg[j - 2] - vec_of_deg[j - 3]) < 10) && (abs(vec_of_deg[j - 1] - vec_of_deg[j - 2]) > .3)) {
                                        zero_flag = true;
                                        cout << "Line 233 and 232 ok..." << endl;

                                    }
                                    //                    else {
                                    //                        zero_flag = false;
                                    //                    }
                                }
                            }

                            cout << "Accum size is: " << accum.size() << endl;
                            cout << "Accum2 size is: " << accum2.size() << endl;
                            if (zero_flag) {
                                // Если набрали 5 элементов
                                cout << "Entered in zero_flag if..." << endl;
                                cout << "Accum2.size() is: " << accum2.size() << endl;
                                if (accum2.size() == 5 && accum.size() == 5) {
                                    // Имеем массивы векторов. Найдём их моды и сравним.
                                    cout << "Accum size: " << accum.size() << endl;
                                    cout << "Accum2 size: " << accum2.size() << endl;
                                    mode1 = find_mode(accum);
                                    mode2 = find_mode(accum2);
                                    cout << "Line 246 and 245 ok..." << endl;

                                    bool compar_res = mode1 == mode2;
                                    cout << "Line 250 ok..." << endl;
                                    // Если градусы около нуля, а значения векторов поменялись, то отражаем
                                    // Input data leave it as it as, but the output data has to be processed.
                                    if (!(compar_res)) {
                                        // Если мы нашли ту самую точку, то отразим точки, которые мы накопили, и прибавим к ним точку
                                        // отражения, а также изменим точку отражения, и изменим флаг mirror_flag = True
                                        cout << "Нашли ту самую точку!" << endl;
                                        // mirror_point += values[j-6];
                                        // cout << "Mirror point after: " << mirror_point << endl;
                                        cout << "Line 255 ok..." << endl;

                                        if (mirror_flag) {
                                            mirror_flag = false;
                                        }
                                        else {
                                            mirror_flag = true;
                                        }

                                        //                        for (int i = j-6; i < j-1; i++){
                                        //                            values[i] = -values[i] + mirror_point;
                                        //                        }
                                                                // cout << "Lines 263 and 264 are ok" << "j is: " << j << endl;

                                    }
                                    accum2 = {};
                                    cout << "Making zero flag false..." << endl;
                                    zero_flag = false;
                                }
                                else {
                                    if (accum2.size() < 5) {
                                        accum2.push_back(vec_of_rot_axis[j - 1]);
                                        cout << "Line 274 ok..." << endl;
                                    }
                                }
                            }


                            // Сохраняем значения...
                            if (mirror_flag) {
                                ; cout << "Mirror flag is on;" << " vec_of_deg size: " << vec_of_deg.size() << "; j is: " << j << endl;
                                values.push_back(-vec_of_deg[j - 1] + mirror_point);
                                // cout << "Line 281 ok..." << endl;
                            }
                            else {
                                ; cout << "Mirror flag is off" << " vec_of_deg size: " << vec_of_deg.size() << "; j is: " << j << endl;
                                values.push_back(vec_of_deg[j - 1]);
                                // cout << "Line 284 ok..." << endl;
                            }
                            cout << "Processed value is: " << values[j - 1] << endl; cout << " " << endl;

                            // --------- I PART OF THE PROCESSING ---------
                //            values[j-1] += skew1;
                //            float diff = (values[j-2] - values[j-1]);
                //            cout << "New deg is: " << new_deg << "Diff is: " << diff << endl;
                //
                //
                //            // Если разница больше 10, то скорее всего произошла потеря.
                //            if (abs(diff) > 10) {
                //                cout << "Diff is more than 10; Correcting... " << endl;
                //                values[j-1] += diff;
                //                skew1 += diff;
                //            }
                            // --------- I PART OF THE PROCESSING ---------

                            // Запись в файл.
                            //outfile << values[j - 1] << " " << new_vec[0] << " " << new_vec[1] << " " << new_vec[2] << " " << cnt << endl;
                            // cout << "Successfully written to the file" << endl;

                            // Выполнить отправку в протокол OSC. 
                            //cv::Vec3d res(1., 1., 1.);
                            //std::cout << "defined Vector is: " << res[0] << res[1] << res[2] << std::endl;
                            std::cout << "message received!" << std::endl;
                            UdpTransmitSocket transmitSocket(IpEndpointName(ADDRESS, PORT));

                            char buffer[OUTPUT_BUFFER_SIZE];
                            osc::OutboundPacketStream p(buffer, OUTPUT_BUFFER_SIZE);

                            std::string str;
                            str = std::to_string(values[j-1]) + " " + std::to_string(new_vec[0]) + " " + std::to_string(new_vec[1]) + " " + std::to_string(new_vec[2]);
                            char msg[40];
                            strcpy(msg, str.c_str());

                            p << osc::BeginBundleImmediate
                                << osc::BeginMessage("/test3") << msg << osc::EndMessage
                                /* << osc::BeginMessage("/test2")
                                 << true << 24 << (float)10.8 << "world" << osc::EndMessage*/
                                << osc::EndBundle;

                            //p << osc::BeginBundleImmediate
                            //    << osc::BeginMessage("/test1")
                            //    //res[0] << res[1] << res[2] <<
                            //    << true <<  "blah" << osc::EndMessage << osc::EndBundle;
                            ////<< osc::BeginMessage("/test2")
                            ////<< true << 24 << (float)10.8 << "world" << osc::EndMessage

                            transmitSocket.Send(p.Data(), p.Size());
                            std::cout << "Message sent!" << std::endl;

                            // ---- II PART OF THE PROCESSING ----

                            curr_deg = new_deg;
                            curr_vec = new_vec;
                        }
                        cnt++;
                        ts += time_step;

                    }
                }
                else {
                    std::cout << "Don't have any frames yet ..." << std::endl;
                }
            }


            delete[] buffer;
        }

        std::printf("End of video\n");
        // Stop all threads
        SLAM.Shutdown();

        std::printf("Done.\n");

    };

    std::cout << "Lambda function defined ..." << std::endl;

    char** argv_orb;
    argv_orb = new char* [3];
    argv_orb[0] = new char[300];
    argv_orb[1] = new char[300];
    argv_orb[2] = new char[300];

    strcpy(argv_orb[0], argv[0]);
    strcpy(argv_orb[1], argv[1]);
    strcpy(argv_orb[2], argv[2]);


    std::thread t1(lambda_1, argv_orb);

    std::cout << "Lambda function works ini the thread t1 ..." << std::endl;


    bool is_terminated = false;
    while (!is_terminated) {
        // g_main_iteration(false);
        g_main_context_iteration(NULL, false);
    }
    t1.join();
#else
    bool is_terminated = false;
    while (!is_terminated) {
        g_main_context_iteration(NULL, false);
    }
#endif // MY_GST_USE_OPENCV
    gst_element_set_state(GST_ELEMENT(pipeline), GST_STATE_NULL);
    gst_object_unref(GST_OBJECT(pipeline));

    return 0;
}