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#ifndef PCL_FEATURES_IMPL_ORGANIZED_EDGE_DETECTION_H_
#define PCL_FEATURES_IMPL_ORGANIZED_EDGE_DETECTION_H_

#include <pcl/2d/edge.h>
#include <pcl/features/organized_edge_detection.h>
#include <pcl/console/print.h>

/**
 *  Directions: 1 2 3
 *              0 x 4
 *              7 6 5
 * e.g. direction y means we came from pixel with label y to the center pixel x
 */
//////////////////////////////////////////////////////////////////////////////
template<typename PointT, typename PointLT> void
pcl::OrganizedEdgeBase<PointT, PointLT>::compute (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const
{
  pcl::Label invalid_pt;
  invalid_pt.label = unsigned (0);
  labels.points.resize (input_->points.size (), invalid_pt);
  labels.width = input_->width;
  labels.height = input_->height;
  
  extractEdges (labels);

  assignLabelIndices (labels, label_indices);
}

//////////////////////////////////////////////////////////////////////////////
template<typename PointT, typename PointLT> void
pcl::OrganizedEdgeBase<PointT, PointLT>::assignLabelIndices (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const
{
  const unsigned invalid_label = unsigned (0);
  label_indices.resize (num_of_edgetype_);
  for (std::size_t idx = 0; idx < input_->points.size (); idx++)
  {
    if (labels[idx].label != invalid_label)
    {
      for (int edge_type = 0; edge_type < num_of_edgetype_; edge_type++)
      {
        if ((labels[idx].label >> edge_type) & 1)
          label_indices[edge_type].indices.push_back (idx);
      }
    }
  }
}

//////////////////////////////////////////////////////////////////////////////
template<typename PointT, typename PointLT> void
pcl::OrganizedEdgeBase<PointT, PointLT>::extractEdges (pcl::PointCloud<PointLT>& labels) const
{
  if ((detecting_edge_types_ & EDGELABEL_NAN_BOUNDARY) || (detecting_edge_types_ & EDGELABEL_OCCLUDING) || (detecting_edge_types_ & EDGELABEL_OCCLUDED))
  {
    // Fill lookup table for next points to visit
    const int num_of_ngbr = 8;
    Neighbor directions [num_of_ngbr] = {Neighbor(-1, 0, -1),
      Neighbor(-1, -1, -labels.width - 1), 
      Neighbor( 0, -1, -labels.width    ),
      Neighbor( 1, -1, -labels.width + 1),
      Neighbor( 1,  0,                 1),
      Neighbor( 1,  1,  labels.width + 1),
      Neighbor( 0,  1,  labels.width    ),
      Neighbor(-1,  1,  labels.width - 1)};

    for (int row = 1; row < int(input_->height) - 1; row++)
    {
      for (int col = 1; col < int(input_->width) - 1; col++)
      {
        int curr_idx = row*int(input_->width) + col;
        if (!std::isfinite (input_->points[curr_idx].z))
          continue;

        float curr_depth = std::abs (input_->points[curr_idx].z);

        // Calculate depth distances between current point and neighboring points
        std::vector<float> nghr_dist;
        nghr_dist.resize (8);
        bool found_invalid_neighbor = false;
        for (int d_idx = 0; d_idx < num_of_ngbr; d_idx++)
        {
          int nghr_idx = curr_idx + directions[d_idx].d_index;
          assert (nghr_idx >= 0 && nghr_idx < input_->points.size ());
          if (!std::isfinite (input_->points[nghr_idx].z))
          {
            found_invalid_neighbor = true;
            break;
          }
          nghr_dist[d_idx] = curr_depth - std::abs (input_->points[nghr_idx].z);
        }

        if (!found_invalid_neighbor)
        {
          // Every neighboring points are valid
          std::vector<float>::const_iterator min_itr, max_itr;
          std::tie (min_itr, max_itr) = std::minmax_element (nghr_dist.cbegin (), nghr_dist.cend ());
          float nghr_dist_min = *min_itr;
          float nghr_dist_max = *max_itr;
          float dist_dominant = std::max(std::abs (nghr_dist_min),std::abs (nghr_dist_max));
          if (std::abs (dist_dominant) > th_depth_discon_*std::abs (curr_depth))
          {
            // Found a depth discontinuity
            if (dist_dominant > 0.f)
            {
              if (detecting_edge_types_ & EDGELABEL_OCCLUDED)
                labels[curr_idx].label |= EDGELABEL_OCCLUDED;
            }
            else
            {
              if (detecting_edge_types_ & EDGELABEL_OCCLUDING)
                labels[curr_idx].label |= EDGELABEL_OCCLUDING;
            }
          }
        }
        else
        {
          // Some neighboring points are not valid (nan points)
          // Search for corresponding point across invalid points
          // Search direction is determined by nan point locations with respect to current point
          int dx = 0;
          int dy = 0;
          int num_of_invalid_pt = 0;
          for (const auto &direction : directions)
          {
            int nghr_idx = curr_idx + direction.d_index;
            assert (nghr_idx >= 0 && nghr_idx < input_->points.size ());
            if (!std::isfinite (input_->points[nghr_idx].z))
            {
              dx += direction.d_x;
              dy += direction.d_y;
              num_of_invalid_pt++;
            }
          }

          // Search directions
          assert (num_of_invalid_pt > 0);
          float f_dx = static_cast<float> (dx) / static_cast<float> (num_of_invalid_pt);
          float f_dy = static_cast<float> (dy) / static_cast<float> (num_of_invalid_pt);

          // Search for corresponding point across invalid points
          float corr_depth = std::numeric_limits<float>::quiet_NaN ();
          for (int s_idx = 1; s_idx < max_search_neighbors_; s_idx++)
          {
            int s_row = row + static_cast<int> (std::floor (f_dy*static_cast<float> (s_idx)));
            int s_col = col + static_cast<int> (std::floor (f_dx*static_cast<float> (s_idx)));

            if (s_row < 0 || s_row >= int(input_->height) || s_col < 0 || s_col >= int(input_->width))
              break;

            if (std::isfinite (input_->points[s_row*int(input_->width)+s_col].z))
            {
              corr_depth = std::abs (input_->points[s_row*int(input_->width)+s_col].z);
              break;
            }
          }

          if (!std::isnan (corr_depth))
          {
            // Found a corresponding point
            float dist = curr_depth - corr_depth;
            if (std::abs (dist) > th_depth_discon_*std::abs (curr_depth))
            {
              // Found a depth discontinuity
              if (dist > 0.f)
              {
                if (detecting_edge_types_ & EDGELABEL_OCCLUDED)
                  labels[curr_idx].label |= EDGELABEL_OCCLUDED;
              }
              else
              {
                if (detecting_edge_types_ & EDGELABEL_OCCLUDING)
                  labels[curr_idx].label |= EDGELABEL_OCCLUDING;
              }
            }
          } 
          else
          {
            // Not found a corresponding point, just nan boundary edge
            if (detecting_edge_types_ & EDGELABEL_NAN_BOUNDARY)
              labels[curr_idx].label |= EDGELABEL_NAN_BOUNDARY;
          }
        }
      }
    }
  }
}


//////////////////////////////////////////////////////////////////////////////
template<typename PointT, typename PointLT> void
pcl::OrganizedEdgeFromRGB<PointT, PointLT>::compute (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const
{
  pcl::Label invalid_pt;
  invalid_pt.label = unsigned (0);
  labels.points.resize (input_->points.size (), invalid_pt);
  labels.width = input_->width;
  labels.height = input_->height;

  OrganizedEdgeBase<PointT, PointLT>::extractEdges (labels);
  extractEdges (labels);

  this->assignLabelIndices (labels, label_indices);
}

//////////////////////////////////////////////////////////////////////////////
template<typename PointT, typename PointLT> void
pcl::OrganizedEdgeFromRGB<PointT, PointLT>::extractEdges (pcl::PointCloud<PointLT>& labels) const
{
  if ((detecting_edge_types_ & EDGELABEL_RGB_CANNY))
  {
    pcl::PointCloud<PointXYZI>::Ptr gray (new pcl::PointCloud<PointXYZI>);
    gray->width = input_->width;
    gray->height = input_->height;
    gray->resize (input_->height*input_->width);

    for (std::size_t i = 0; i < input_->size (); ++i)
      (*gray)[i].intensity = float (((*input_)[i].r + (*input_)[i].g + (*input_)[i].b) / 3);

    pcl::PointCloud<pcl::PointXYZIEdge> img_edge_rgb;
    pcl::Edge<PointXYZI, pcl::PointXYZIEdge> edge;
    edge.setInputCloud (gray);
    edge.setHysteresisThresholdLow (th_rgb_canny_low_);
    edge.setHysteresisThresholdHigh (th_rgb_canny_high_);
    edge.detectEdgeCanny (img_edge_rgb);
    
    for (std::uint32_t row=0; row<labels.height; row++)
    {
      for (std::uint32_t col=0; col<labels.width; col++)
      {
        if (img_edge_rgb (col, row).magnitude == 255.f)
          labels[row * labels.width + col].label |= EDGELABEL_RGB_CANNY;
      }
    }
  }
}

//////////////////////////////////////////////////////////////////////////////
template<typename PointT, typename PointNT, typename PointLT> void
pcl::OrganizedEdgeFromNormals<PointT, PointNT, PointLT>::compute (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const
{
  pcl::Label invalid_pt;
  invalid_pt.label = unsigned (0);
  labels.points.resize (input_->points.size (), invalid_pt);
  labels.width = input_->width;
  labels.height = input_->height;
  
  OrganizedEdgeBase<PointT, PointLT>::extractEdges (labels);
  extractEdges (labels);

  this->assignLabelIndices (labels, label_indices);
}

//////////////////////////////////////////////////////////////////////////////
template<typename PointT, typename PointNT, typename PointLT> void
pcl::OrganizedEdgeFromNormals<PointT, PointNT, PointLT>::extractEdges (pcl::PointCloud<PointLT>& labels) const
{
  if ((detecting_edge_types_ & EDGELABEL_HIGH_CURVATURE))
  {

    pcl::PointCloud<PointXYZI> nx, ny;
    nx.width = normals_->width;
    nx.height = normals_->height;
    nx.resize (normals_->height*normals_->width);

    ny.width = normals_->width;
    ny.height = normals_->height;
    ny.resize (normals_->height*normals_->width);

    for (std::uint32_t row=0; row<normals_->height; row++)
    {
      for (std::uint32_t col=0; col<normals_->width; col++)
      {
        nx (col, row).intensity = normals_->points[row*normals_->width + col].normal_x;
        ny (col, row).intensity = normals_->points[row*normals_->width + col].normal_y;
      }
    }

    pcl::PointCloud<pcl::PointXYZIEdge> img_edge;
    pcl::Edge<PointXYZI, pcl::PointXYZIEdge> edge;
    edge.setHysteresisThresholdLow (th_hc_canny_low_);
    edge.setHysteresisThresholdHigh (th_hc_canny_high_);
    edge.canny (nx, ny, img_edge);

    for (std::uint32_t row=0; row<labels.height; row++)
    {
      for (std::uint32_t col=0; col<labels.width; col++)
      {
        if (img_edge (col, row).magnitude == 255.f)
          labels[row * labels.width + col].label |= EDGELABEL_HIGH_CURVATURE;
      }
    }
  }
}

//////////////////////////////////////////////////////////////////////////////
template<typename PointT, typename PointNT, typename PointLT> void
pcl::OrganizedEdgeFromRGBNormals<PointT, PointNT, PointLT>::compute (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const
{
  pcl::Label invalid_pt;
  invalid_pt.label = unsigned (0);
  labels.points.resize (input_->points.size (), invalid_pt);
  labels.width = input_->width;
  labels.height = input_->height;
  
  OrganizedEdgeBase<PointT, PointLT>::extractEdges (labels);
  OrganizedEdgeFromNormals<PointT, PointNT, PointLT>::extractEdges (labels);
  OrganizedEdgeFromRGB<PointT, PointLT>::extractEdges (labels);

  this->assignLabelIndices (labels, label_indices);
}

#define PCL_INSTANTIATE_OrganizedEdgeBase(T,LT)               template class PCL_EXPORTS pcl::OrganizedEdgeBase<T,LT>;
#define PCL_INSTANTIATE_OrganizedEdgeFromRGB(T,LT)            template class PCL_EXPORTS pcl::OrganizedEdgeFromRGB<T,LT>;
#define PCL_INSTANTIATE_OrganizedEdgeFromNormals(T,NT,LT)     template class PCL_EXPORTS pcl::OrganizedEdgeFromNormals<T,NT,LT>;
#define PCL_INSTANTIATE_OrganizedEdgeFromRGBNormals(T,NT,LT)  template class PCL_EXPORTS pcl::OrganizedEdgeFromRGBNormals<T,NT,LT>;

#endif //#ifndef PCL_FEATURES_IMPL_ORGANIZED_EDGE_DETECTION_H_
