/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * Author : Christian Potthast
 * Email  : potthast@usc.edu
 *
 */

/*
#include <pcl/impl/instantiate.hpp>
#include <pcl/ml/impl/kmeans.hpp>
#include <pcl/ml/kmeans.h>
#include <pcl/point_types.h>

// Instantiations of all point types
PCL_INSTANTIATE(Kmeans, PCL_POINT_TYPES);
*/

#include <pcl/ml/kmeans.h>

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
pcl::Kmeans::Kmeans(unsigned int num_points, unsigned int num_dimensions)
: num_points_(num_points)
, num_dimensions_(num_dimensions)
, points_to_clusters_(num_points_, 0)
// data_ (num_points_, Point (num_dimensions_))
{}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
pcl::Kmeans::~Kmeans() {}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::Kmeans::initialClusterPoints()
{
  for (ClusterId i = 0; i < num_clusters_; i++) {
    Point point; // each centroid is a point
    for (unsigned int dim = 0; dim < num_dimensions_; dim++)
      point.push_back(0.0);
    SetPoints set_of_points;

    // init centroids
    centroids_.push_back(point);

    // init clusterId -> set of points
    clusters_to_points_.push_back(set_of_points);
  }

  ClusterId cid;

  for (PointId pid = 0; pid < num_points_; pid++) {

    cid = pid % num_clusters_;

    points_to_clusters_[pid] = cid;
    clusters_to_points_[cid].insert(pid);
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::Kmeans::computeCentroids()
{
  ClusterId cid = 0;
  // For each centroid
  for (Centroids::value_type& centroid : centroids_) {
    PointId num_points_in_cluster = 0;

    // For each PointId in this set
    for (const auto& pid : clusters_to_points_[cid]) {
      Point p = data_[pid];
      // Point p = ps__.getPoint(pid);
      for (unsigned int i = 0; i < num_dimensions_; i++)
        centroid[i] += p[i];
      num_points_in_cluster++;
    }
    // if no point in the clusters, this goes to inf (correct!)
    for (unsigned int i = 0; i < num_dimensions_; i++) {
      centroid[i] /= static_cast<float>(num_points_in_cluster);
      // std::cout << centroid[i] << " ";
    }
    // std::cout << std::endl;

    cid++;
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::Kmeans::kMeans()
{
  bool not_converged = true;
  ClusterId cid, to_cluster;
  float d, min;

  // Initial partition of points
  initialClusterPoints();

  // Until not converge
  while (not_converged) {

    not_converged = false;

    computeCentroids();

    // for each point
    for (PointId pid = 0; pid < num_points_; pid++) {
      // distance from current cluster
      min = distance(centroids_[points_to_clusters_[pid]], data_[pid]);

      // foreach centroid
      cid = 0;
      bool move = false;
      for (const auto& c : centroids_) {
        d = distance(c, data_[pid]);
        if (d < min) {
          min = d;
          move = true;
          to_cluster = cid;

          // remove from current cluster
          clusters_to_points_[points_to_clusters_[pid]].erase(pid);

          not_converged = true;
        }
        cid++;
      }

      // move towards a closer centroid
      if (move) {
        // insert
        points_to_clusters_[pid] = to_cluster;
        clusters_to_points_[to_cluster].insert(pid);
      }
    }
  } // end while
}

/*
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::Kmeans::cluster (std::vector<PointIndices> &clusters)
{
  if (!initCompute () ||
      (input_ != 0   && input_->points.empty ()) ||
      (indices_ != 0 && indices_->empty ()))
  {
    clusters.clear ();
    return;
  }

  pcl::PointCloud <PointT> point;
  std::vector<pcl::PCLPointField> fields;

  int user_index = -1;
  // if no cluster field name is set, check for X Y Z
  if (strcmp (cluster_field_name_.c_str (), "") == 0)
  {
    int x_index = -1;
    int y_index = -1;
    int z_index = -1;
    x_index = pcl::getFieldIndex<PointT> ("x", fields);
    if (y_index != -1)
      y_index = pcl::getFieldIndex<PointT> ("y", fields);
    if (z_index != -1)
      z_index = pcl::getFieldIndex<PointT> ("z", fields);

    if (x_index == -1 && y_index == -1 && z_index == -1)
    {
      PCL_ERROR ("Failed to find match for field 'x y z'\n" );
      return;
    }

    PCL_INFO ("Use X Y Z as input data\n");
*/

// create input data
/*
    for (std::size_t i = 0; i < input_->points.size (); i++)
    {
      DataPoint data (3);
      data[0] = input_->points[i].data[0];



    }
*/

/*
std::cout << "x index: " << x_index << std::endl;

float x = 0.0;
memcpy (&x, &input_->points[0] + fields[x_index].offset, sizeof(float));

std::cout << "xxx: " << x << std::endl;
*/

// memcpy (&x, reinterpret_cast<float*> (&input_->points[0]) + x_index, sizeof (float));

// int rgba_index = 1;

// pcl::RGB rgb;
// memcpy (&rgb, reinterpret_cast<const char*>
// (&input_->points[index_vector[i].cloud_point_index]) + rgba_index, sizeof (RGB));

/*
}
// if cluster field name is set, check if field name is valid
else
{
user_index = pcl::getFieldIndex<PointT> (cluster_field_name_.c_str (), fields);

if (user_index == -1)
{
  PCL_ERROR ("Failed to find match for field '%s'\n", cluster_field_name_.c_str ());
  return;
}
}
*/

/*
  int xyz_index = -1;
  pcl::PointCloud <PointT> point;
  xyz_index = pcl::getFieldIndex<PointT> ("r", fields);


  if (xyz_index == -1 && strcmp (cluster_field_name_.c_str (), "") == 0)
  {
    PCL_ERROR ("Failed to find match for field '%s'\n", cluster_field_name_.c_str ());
  }


  std::cout << "index: " << xyz_index << std::endl;

  std::string t = pcl::getFieldsList (point);
  std::cout << "t: " << t << std::endl;
*/

// std::vector <pcl::PCLPointField> fields;
// pcl::getFieldIndex (*input_, "xyz", fields);

// std::cout << "field: " << fields[xyz_index].count << std::endl;

/*
  for (std::size_t i = 0; i < fields[vfh_idx].count; ++i)
  {

    //vfh.second[i] = point.points[0].histogram[i];

  }
*/

/*

deinitCompute ();
}
*/
