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#pragma once

#include <pcl/segmentation/boost.h>
#include <pcl/segmentation/plane_coefficient_comparator.h>

namespace pcl
{
  /** \brief RGBPlaneCoefficientComparator is a Comparator that operates on plane coefficients, 
    * for use in planar segmentation.  Also takes into account RGB, so we can segmented different colored co-planar regions.
    * In conjunction with OrganizedConnectedComponentSegmentation, this allows planes to be segmented from organized data.
    *
    * \author Alex Trevor
    */
  template<typename PointT, typename PointNT>
  class RGBPlaneCoefficientComparator: public PlaneCoefficientComparator<PointT, PointNT>
  {
    public:
      using PointCloud = typename Comparator<PointT>::PointCloud;
      using PointCloudConstPtr = typename Comparator<PointT>::PointCloudConstPtr;
      
      using PointCloudN = pcl::PointCloud<PointNT>;
      using PointCloudNPtr = typename PointCloudN::Ptr;
      using PointCloudNConstPtr = typename PointCloudN::ConstPtr;
      
      using Ptr = shared_ptr<RGBPlaneCoefficientComparator<PointT, PointNT> >;
      using ConstPtr = shared_ptr<const RGBPlaneCoefficientComparator<PointT, PointNT> >;

      using pcl::Comparator<PointT>::input_;
      using pcl::PlaneCoefficientComparator<PointT, PointNT>::normals_;
      using pcl::PlaneCoefficientComparator<PointT, PointNT>::angular_threshold_;
      using pcl::PlaneCoefficientComparator<PointT, PointNT>::distance_threshold_;

      /** \brief Empty constructor for RGBPlaneCoefficientComparator. */
      RGBPlaneCoefficientComparator ()
        : color_threshold_ (50.0f)
      {
      }

      /** \brief Constructor for RGBPlaneCoefficientComparator.
        * \param[in] plane_coeff_d a reference to a vector of d coefficients of plane equations.  Must be the same size as the input cloud and input normals.  a, b, and c coefficients are in the input normals.
        */
      RGBPlaneCoefficientComparator (shared_ptr<std::vector<float> >& plane_coeff_d) 
        : PlaneCoefficientComparator<PointT, PointNT> (plane_coeff_d), color_threshold_ (50.0f)
      {
      }
      
      /** \brief Destructor for RGBPlaneCoefficientComparator. */
      
      ~RGBPlaneCoefficientComparator ()
      {
      }

      /** \brief Set the tolerance in color space between neighboring points, to be considered part of the same plane.
        * \param[in] color_threshold The distance in color space
        */
      inline void
      setColorThreshold (float color_threshold)
      {
        color_threshold_ = color_threshold * color_threshold;
      }

      /** \brief Get the color threshold between neighboring points, to be considered part of the same plane. */
      inline float
      getColorThreshold () const
      {
        return (color_threshold_);
      }

      /** \brief Compare two neighboring points, by using normal information, euclidean distance, and color information.
        * \param[in] idx1 The index of the first point.
        * \param[in] idx2 The index of the second point.
        */
      bool
      compare (int idx1, int idx2) const override
      {
        float dx = input_->points[idx1].x - input_->points[idx2].x;
        float dy = input_->points[idx1].y - input_->points[idx2].y;
        float dz = input_->points[idx1].z - input_->points[idx2].z;
        float dist = std::sqrt (dx*dx + dy*dy + dz*dz);
        int dr = input_->points[idx1].r - input_->points[idx2].r;
        int dg = input_->points[idx1].g - input_->points[idx2].g;
        int db = input_->points[idx1].b - input_->points[idx2].b;
        //Note: This is not the best metric for color comparisons, we should probably use HSV space.
        float color_dist = static_cast<float> (dr*dr + dg*dg + db*db);
        return ( (dist < distance_threshold_)
                 && (normals_->points[idx1].getNormalVector3fMap ().dot (normals_->points[idx2].getNormalVector3fMap () ) > angular_threshold_ )
                 && (color_dist < color_threshold_));
      }
      
    protected:
      float color_threshold_;
  };
}
