/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2012-, Open Perception, Inc.
 *
 *  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 the copyright holder(s) 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.
 *
 * $Id: openni_viewer.cpp 5059 2012-03-14 02:12:17Z gedikli $
 *
 */

#define SHOW_FPS 1

#include <pcl/apps/timer.h>
#include <pcl/common/angles.h>
#include <pcl/common/common.h>
#include <pcl/common/time.h>
#include <pcl/console/parse.h>
#include <pcl/console/print.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/io/openni_grabber.h>
#include <pcl/io/pcd_io.h>
#include <pcl/keypoints/brisk_2d.h>
#include <pcl/visualization/image_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>

#include <mutex>
#include <thread>

using namespace pcl;
using namespace std;
using namespace std::chrono_literals;

using PointT = PointXYZRGBA;
using KeyPointT = PointWithScale;

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
class BRISKDemo {
public:
  using Cloud = PointCloud<PointT>;
  using CloudPtr = Cloud::Ptr;
  using CloudConstPtr = Cloud::ConstPtr;

  BRISKDemo(Grabber& grabber)
  : cloud_viewer_("BRISK 2D Keypoints -- PointCloud")
  , grabber_(grabber)
  , image_viewer_("BRISK 2D Keypoints -- Image")
  {}

  /////////////////////////////////////////////////////////////////////////
  void
  cloud_callback(const CloudConstPtr& cloud)
  {
    FPS_CALC("cloud callback");
    std::lock_guard<std::mutex> lock(cloud_mutex_);
    cloud_ = cloud;

    // Compute BRISK keypoints
    BriskKeypoint2D<PointT> brisk;
    brisk.setThreshold(60);
    brisk.setOctaves(4);
    brisk.setInputCloud(cloud);

    keypoints_.reset(new PointCloud<KeyPointT>);
    brisk.compute(*keypoints_);
  }

  /////////////////////////////////////////////////////////////////////////
  void
  init()
  {
    std::function<void(const CloudConstPtr&)> cloud_cb =
        [this](const CloudConstPtr& cloud) { cloud_callback(cloud); };
    cloud_connection = grabber_.registerCallback(cloud_cb);
  }

  /////////////////////////////////////////////////////////////////////////
  string
  getStrBool(bool state)
  {
    stringstream ss;
    ss << state;
    return ss.str();
  }

  /////////////////////////////////////////////////////////////////////////
  inline PointT
  bilinearInterpolation(const CloudConstPtr& cloud, float x, float y)
  {
    int u = int(x);
    int v = int(y);

    PointT pt;
    pt.x = pt.y = pt.z = 0;

    const PointT& p1 = (*cloud)(u, v);
    const PointT& p2 = (*cloud)(u + 1, v);
    const PointT& p3 = (*cloud)(u, v + 1);
    const PointT& p4 = (*cloud)(u + 1, v + 1);

    float fx = x - float(u), fy = y - float(v);
    float fx1 = 1.0f - fx, fy1 = 1.0f - fy;

    float w1 = fx1 * fy1, w2 = fx * fy1, w3 = fx1 * fy, w4 = fx * fy;
    float weight = 0;

    if (isFinite(p1)) {
      pt.x += p1.x * w1;
      pt.y += p1.y * w1;
      pt.z += p1.z * w1;
      weight += w1;
    }
    if (isFinite(p2)) {
      pt.x += p2.x * w2;
      pt.y += p2.y * w2;
      pt.z += p2.z * w2;
      weight += w2;
    }
    if (isFinite(p3)) {
      pt.x += p3.x * w3;
      pt.y += p3.y * w3;
      pt.z += p3.z * w3;
      weight += w3;
    }
    if (isFinite(p4)) {
      pt.x += p4.x * w4;
      pt.y += p4.y * w4;
      pt.z += p4.z * w4;
      weight += w4;
    }

    if (weight == 0)
      pt.x = pt.y = pt.z = std::numeric_limits<float>::quiet_NaN();
    else {
      weight = 1.0f / weight;
      pt.x *= weight;
      pt.y *= weight;
      pt.z *= weight;
    }

    return pt;
  }

  /////////////////////////////////////////////////////////////////////////
  void
  get3DKeypoints(const CloudConstPtr& cloud,
                 const PointCloud<KeyPointT>::Ptr& keypoints,
                 PointCloud<PointT>& keypoints3d)
  {
    keypoints3d.resize(keypoints->size());
    keypoints3d.width = keypoints->width;
    keypoints3d.height = keypoints->height;
    keypoints3d.is_dense = true;

    std::size_t j = 0;
    for (std::size_t i = 0; i < keypoints->size(); ++i) {
      PointT pt =
          bilinearInterpolation(cloud, keypoints->points[i].x, keypoints->points[i].y);

      keypoints3d.points[j].x = pt.x;
      keypoints3d.points[j].y = pt.y;
      keypoints3d.points[j].z = pt.z;
      ++j;
    }

    if (j != keypoints->size()) {
      keypoints3d.resize(j);
      keypoints3d.width = j;
      keypoints3d.height = 1;
    }
  }

  /////////////////////////////////////////////////////////////////////////
  void
  run()
  {
    grabber_.start();

    bool image_init = false, cloud_init = false;
    bool keypts = true;

    PointCloud<KeyPointT>::Ptr keypoints;
    CloudConstPtr cloud;
    CloudPtr keypoints3d(new Cloud);

    while (!cloud_viewer_.wasStopped() && !image_viewer_.wasStopped()) {
      if (cloud_mutex_.try_lock()) {
        if (cloud_)
          cloud_.swap(cloud);

        if (keypoints_)
          keypoints_.swap(keypoints);

        cloud_mutex_.unlock();

        if (!cloud)
          continue;

        if (!cloud_init) {
          cloud_viewer_.setPosition(0, 0);
          cloud_viewer_.setSize(cloud->width, cloud->height);
          cloud_init = true;
        }

        if (!cloud_viewer_.updatePointCloud(cloud, "OpenNICloud")) {
          cloud_viewer_.addPointCloud(cloud, "OpenNICloud");
          cloud_viewer_.resetCameraViewpoint("OpenNICloud");
        }

        if (!image_init) {
          image_viewer_.setPosition(cloud->width, 0);
          image_viewer_.setSize(cloud->width, cloud->height);
          image_init = true;
        }

        image_viewer_.showRGBImage<PointT>(cloud);

        image_viewer_.removeLayer(getStrBool(keypts));
        for (std::size_t i = 0; i < keypoints->size(); ++i) {
          int u = int(keypoints->points[i].x);
          int v = int(keypoints->points[i].y);
          image_viewer_.markPoint(u,
                                  v,
                                  visualization::red_color,
                                  visualization::blue_color,
                                  10,
                                  getStrBool(!keypts));
        }
        keypts = !keypts;

        get3DKeypoints(cloud, keypoints, *keypoints3d);
        visualization::PointCloudColorHandlerCustom<PointT> blue(
            keypoints3d, 0, 0, 255);
        if (!cloud_viewer_.updatePointCloud(keypoints3d, blue, "keypoints"))
          cloud_viewer_.addPointCloud(keypoints3d, blue, "keypoints");
        cloud_viewer_.setPointCloudRenderingProperties(
            visualization::PCL_VISUALIZER_POINT_SIZE, 10, "keypoints");
        cloud_viewer_.setPointCloudRenderingProperties(
            visualization::PCL_VISUALIZER_OPACITY, 0.5, "keypoints");
      }

      cloud_viewer_.spinOnce();
      image_viewer_.spinOnce();
      std::this_thread::sleep_for(100us);
    }

    grabber_.stop();

    cloud_connection.disconnect();
  }

  visualization::PCLVisualizer cloud_viewer_;
  Grabber& grabber_;
  std::mutex cloud_mutex_;
  CloudConstPtr cloud_;

  visualization::ImageViewer image_viewer_;

  PointCloud<KeyPointT>::Ptr keypoints_;

private:
  boost::signals2::connection cloud_connection;
};

/* ---[ */
int
main(int, char**)
{
  string device_id("#1");
  OpenNIGrabber grabber(device_id);
  BRISKDemo openni_viewer(grabber);

  openni_viewer.init();
  openni_viewer.run();

  return 0;
}
/* ]--- */
