/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2012-, Open Perception, Inc.
 *
 *  All rights reserved.
 *
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 *  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;
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 *  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.
 *
 * $Id$
 *
 */

#define SHOW_FPS 1

#include <pcl/apps/timer.h>
#include <pcl/common/angles.h>
#include <pcl/common/common.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/susan.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 = PointXYZRGBL;

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

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

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

    // Compute SUSAN keypoints
    SUSANKeypoint<PointT, KeyPointT> susan;
    susan.setInputCloud(cloud);
    susan.setNumberOfThreads(6);
    susan.setNonMaxSupression(true);
    keypoints_.reset(new PointCloud<KeyPointT>);
    susan.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();
  }

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

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

    while (!cloud_viewer_.wasStopped() && !image_viewer_.wasStopped()) {
      PointCloud<KeyPointT>::Ptr keypoints;
      CloudConstPtr cloud;

      if (cloud_mutex_.try_lock()) {
        cloud_.swap(cloud);
        keypoints_.swap(keypoints);

        cloud_mutex_.unlock();
      }

      if (cloud) {
        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_.addRGBImage<PointT>(cloud);

        if (keypoints && !keypoints->empty()) {
          image_viewer_.removeLayer(getStrBool(keypts));
          for (std::size_t i = 0; i < keypoints->size(); ++i) {
            int u = int(keypoints->points[i].label % cloud->width);
            int v = cloud->height - int(keypoints->points[i].label / cloud->width);
            image_viewer_.markPoint(u,
                                    v,
                                    visualization::red_color,
                                    visualization::blue_color,
                                    10,
                                    getStrBool(!keypts));
          }
          keypts = !keypts;

          visualization::PointCloudColorHandlerCustom<KeyPointT> blue(
              keypoints, 0, 0, 255);
          if (!cloud_viewer_.updatePointCloud(keypoints, blue, "keypoints"))
            cloud_viewer_.addPointCloud(keypoints, blue, "keypoints");
          cloud_viewer_.setPointCloudRenderingProperties(
              visualization::PCL_VISUALIZER_POINT_SIZE, 20, "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);
  SUSANDemo openni_viewer(grabber);

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

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