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#include <pcl/test/gtest.h>
#include <pcl/point_cloud.h>
#include <pcl/features/rift.h>

using namespace pcl;
using namespace std;

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, RIFTEstimation)
{
  // Generate a sample point cloud
  PointCloud<PointXYZI> cloud_xyzi;
  cloud_xyzi.height = 1;
  cloud_xyzi.is_dense = true;
  for (float x = -10.0f; x <= 10.0f; x += 1.0f)
  {
    for (float y = -10.0f; y <= 10.0f; y += 1.0f)
    {
      PointXYZI p;
      p.x = x;
      p.y = y;
      p.z = std::sqrt (400 - x * x - y * y);
      p.intensity = std::exp ((-powf (x - 3.0f, 2.0f) + powf (y + 2.0f, 2.0f)) / (2.0f * 25.0f)) + std::exp ((-powf (x + 5.0f, 2.0f) + powf (y - 5.0f, 2.0f))
                                                                                 / (2.0f * 4.0f));

      cloud_xyzi.points.push_back (p);
    }
  }
  cloud_xyzi.width = static_cast<std::uint32_t> (cloud_xyzi.points.size ());

  // Generate the intensity gradient data
  PointCloud<IntensityGradient> gradient;
  gradient.height = 1;
  gradient.width = static_cast<std::uint32_t> (cloud_xyzi.points.size ());
  gradient.is_dense = true;
  gradient.points.resize (gradient.width);
  for (std::size_t i = 0; i < cloud_xyzi.points.size (); ++i)
  {
    const PointXYZI &p = cloud_xyzi.points[i];

    // Compute the surface normal analytically.
    float nx = p.x;
    float ny = p.y;
    float nz = p.z;
    float magnitude = std::sqrt (nx * nx + ny * ny + nz * nz);
    nx /= magnitude;
    ny /= magnitude;
    nz /= magnitude;

    // Compute the intensity gradient analytically...
    float tmpx = -(p.x + 5.0f) / 4.0f / std::exp ((powf (p.x + 5.0f, 2.0f) + powf (p.y - 5.0f, 2.0f)) / 8.0f) - (p.x - 3.0f) / 25.0f
        / std::exp ((powf (p.x - 3.0f, 2.0f) + powf (p.y + 2.0f, 2.0f)) / 50.0f);
    float tmpy = -(p.y - 5.0f) / 4.0f / std::exp ((powf (p.x + 5.0f, 2.0f) + powf (p.y - 5.0f, 2.0f)) / 8.0f) - (p.y + 2.0f) / 25.0f
        / std::exp ((powf (p.x - 3.0f, 2.0f) + powf (p.y + 2.0f, 2.0f)) / 50.0f);
    float tmpz = 0.0f;
    // ...and project the 3-D gradient vector onto the surface's tangent plane.
    float gx = (1 - nx * nx) * tmpx + (-nx * ny) * tmpy + (-nx * nz) * tmpz;
    float gy = (-ny * nx) * tmpx + (1 - ny * ny) * tmpy + (-ny * nz) * tmpz;
    float gz = (-nz * nx) * tmpx + (-nz * ny) * tmpy + (1 - nz * nz) * tmpz;

    gradient.points[i].gradient[0] = gx;
    gradient.points[i].gradient[1] = gy;
    gradient.points[i].gradient[2] = gz;
  }

  // Compute the RIFT features
  using RIFTDescriptor = Histogram<32>;
  RIFTEstimation<PointXYZI, IntensityGradient, RIFTDescriptor> rift_est;
  search::KdTree<PointXYZI>::Ptr treept4 (new search::KdTree<PointXYZI> (false));
  rift_est.setSearchMethod (treept4);
  rift_est.setRadiusSearch (10.0);
  rift_est.setNrDistanceBins (4);
  rift_est.setNrGradientBins (8);

  rift_est.setInputCloud (cloud_xyzi.makeShared ());
  rift_est.setInputGradient (gradient.makeShared ());
  PointCloud<RIFTDescriptor> rift_output;
  rift_est.compute (rift_output);

  // Compare to independently verified values
  const RIFTDescriptor &rift = rift_output.points[220];
  float correct_rift_feature_values[32];

  unsigned major, minor, patch;
  std::sscanf (FLANN_VERSION_, "%u.%u.%u", &major, &minor, &patch);
  if (PCL_VERSION_CALC (major, minor, patch) > PCL_VERSION_CALC (1, 8, 4))
  {
    const float data[32] = {0.0052f, 0.0349f, 0.0647f, 0.0881f, 0.0042f, 0.0131f, 0.0346f, 0.0030f,
                            0.0076f, 0.0218f, 0.0463f, 0.0030f, 0.0087f, 0.0288f, 0.0920f, 0.0472f,
                            0.0211f, 0.0420f, 0.0726f, 0.0669f, 0.0090f, 0.0901f, 0.1274f, 0.2185f,
                            0.0147f, 0.1222f, 0.3568f, 0.4348f, 0.0149f, 0.0806f, 0.2787f, 0.6864f};
    std::copy (data, data + 32, correct_rift_feature_values);
  }
  else
  {
    const float data[32] = {0.0187f, 0.0349f, 0.0647f, 0.0881f, 0.0042f, 0.0131f, 0.0346f, 0.0030f,
                            0.0076f, 0.0218f, 0.0463f, 0.0030f, 0.0087f, 0.0288f, 0.0920f, 0.0472f,
                            0.0076f, 0.0420f, 0.0726f, 0.0669f, 0.0090f, 0.0901f, 0.1274f, 0.2185f,
                            0.0147f, 0.1222f, 0.3568f, 0.4348f, 0.0149f, 0.0806f, 0.2787f, 0.6864f};
    std::copy (data, data + 32, correct_rift_feature_values);
  }
  for (int i = 0; i < 32; ++i)
    EXPECT_NEAR (rift.histogram[i], correct_rift_feature_values[i], 1e-4);
}

/* ---[ */
int
main (int argc, char** argv)
{
  testing::InitGoogleTest (&argc, argv);
  return (RUN_ALL_TESTS ());
}
/* ]--- */
