/*
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 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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 *  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
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 *
 * Author : Christian Potthast
 * Email  : potthast@usc.edu
 *
 */

#pragma once

#include <pcl/ml/kmeans.h>

//#include <pcl/common/io.h>

//#include <stdio.h>
//#include <stdlib.h>
//#include <time.h>

namespace pcl {
template <typename PointT>
Kmeans<PointT>::Kmeans() : cluster_field_name_("")
{}

template <typename PointT>
Kmeans<PointT>::~Kmeans()
{}

template <typename PointT>
void
Kmeans<PointT>::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;

  // 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 {
    int 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();
}
} // namespace pcl

#define PCL_INSTANTIATE_Kmeans(T) template class PCL_EXPORTS pcl::Kmeans<T>;
