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#include <pcl/common/time.h>
#include <pcl/console/parse.h>
#include <pcl/features/fpfh_omp.h>
#include <pcl/features/multiscale_feature_persistence.h>
#include <pcl/features/normal_3d_omp.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/io/openni_camera/openni_driver.h>
#include <pcl/io/openni_grabber.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <mutex>
#include <thread>

using namespace std::chrono_literals;

// clang-format off
#define FPS_CALC(_WHAT_)                                                               \
  do {                                                                                 \
    static unsigned count = 0;                                                         \
    static double last = pcl::getTime();                                               \
    double now = pcl::getTime();                                                       \
    ++count;                                                                           \
    if (now - last >= 1.0) {                                                           \
      std::cout << "Average framerate(" << _WHAT_ << "): "                             \
                << double(count) / double(now - last) << " Hz" << std::endl;           \
      count = 0;                                                                       \
      last = now;                                                                      \
    }                                                                                  \
  } while (false)
// clang-format on

const float default_subsampling_leaf_size = 0.02f;
const float default_normal_search_radius = 0.041f;
const double aux[] = {0.21, 0.32};
const std::vector<double> default_scales_vector(aux, aux + 2);
const float default_alpha = 1.2f;

template <typename PointType>
class OpenNIFeaturePersistence {
public:
  using Cloud = pcl::PointCloud<PointType>;
  using CloudPtr = typename Cloud::Ptr;
  using CloudConstPtr = typename Cloud::ConstPtr;

  OpenNIFeaturePersistence(float& subsampling_leaf_size,
                           double& normal_search_radius,
                           std::vector<float>& scales_vector,
                           float& alpha,
                           const std::string& device_id = "")
  : viewer("PCL OpenNI Feature Persistence Viewer"), device_id_(device_id)
  {
    std::cout << "Launching with parameters:\n"
              << "    octree_leaf_size = " << subsampling_leaf_size << "\n"
              << "    normal_search_radius = " << normal_search_radius << "\n"
              << "    persistence_alpha = " << alpha << "\n"
              << "    scales = ";
    for (const float scale : scales_vector)
      std::cout << scale << " ";
    std::cout << "\n";

    subsampling_filter_.setLeafSize(
        subsampling_leaf_size, subsampling_leaf_size, subsampling_leaf_size);
    typename pcl::search::KdTree<PointType>::Ptr normal_search_tree(
        new typename pcl::search::KdTree<PointType>);
    normal_estimation_filter_.setSearchMethod(normal_search_tree);
    normal_estimation_filter_.setRadiusSearch(normal_search_radius);

    feature_persistence_.setScalesVector(scales_vector);
    feature_persistence_.setAlpha(alpha);

    fpfh_estimation_.reset(new typename pcl::FPFHEstimationOMP<PointType,
                                                               pcl::Normal,
                                                               pcl::FPFHSignature33>());
    typename pcl::search::KdTree<PointType>::Ptr fpfh_tree(
        new typename pcl::search::KdTree<PointType>());
    fpfh_estimation_->setSearchMethod(fpfh_tree);
    feature_persistence_.setFeatureEstimator(fpfh_estimation_);
    feature_persistence_.setDistanceMetric(pcl::CS);

    new_cloud_ = false;
  }

  void
  cloud_cb(const CloudConstPtr& cloud)
  {
    std::lock_guard<std::mutex> lock(mtx_);
    // lock while we set our cloud;
    FPS_CALC("computation");

    // Create temporary clouds
    cloud_subsampled_.reset(new typename pcl::PointCloud<PointType>());
    normals_.reset(new pcl::PointCloud<pcl::Normal>());
    features_.reset(new pcl::PointCloud<pcl::FPFHSignature33>());
    feature_indices_.reset(new std::vector<int>());
    feature_locations_.reset(new typename pcl::PointCloud<PointType>());

    // Subsample input cloud
    subsampling_filter_.setInputCloud(cloud);
    subsampling_filter_.filter(*cloud_subsampled_);

    // Estimate normals
    normal_estimation_filter_.setInputCloud(cloud_subsampled_);
    normal_estimation_filter_.compute(*normals_);

    // Compute persistent features
    fpfh_estimation_->setInputCloud(cloud_subsampled_);
    fpfh_estimation_->setInputNormals(normals_);
    feature_persistence_.determinePersistentFeatures(*features_, feature_indices_);

    // Extract feature locations by using indices
    extract_indices_filter_.setInputCloud(cloud_subsampled_);
    extract_indices_filter_.setIndices(feature_indices_);
    extract_indices_filter_.filter(*feature_locations_);

    PCL_INFO("Persistent feature locations %d\n", feature_locations_->points.size());

    cloud_ = cloud;

    new_cloud_ = true;
  }

  void
  viz_cb(pcl::visualization::PCLVisualizer& viz)
  {
    std::lock_guard<std::mutex> lock(mtx_);
    if (!cloud_) {
      std::this_thread::sleep_for(1s);
      return;
    }

    CloudConstPtr temp_cloud;
    temp_cloud.swap(cloud_); // here we set cloud_ to null, so that

    // Render the data
    if (new_cloud_ && feature_locations_) {
      viz.removePointCloud("featurecloud");
      viz.removePointCloud("OpenNICloud");
      colors_.reset(
          new typename pcl::visualization::PointCloudColorHandlerCustom<PointType>(
              feature_locations_, 255.0, 0.0, 0.0));
      viz.addPointCloud(feature_locations_, *colors_, "featurecloud");
      viz.addPointCloud(temp_cloud, "OpenNICloud");
      new_cloud_ = false;
    }
  }

  void
  run()
  {
    pcl::OpenNIGrabber interface{device_id_};

    std::function<void(const CloudConstPtr&)> f = [this](const CloudConstPtr& cloud) {
      cloud_cb(cloud);
    };
    boost::signals2::connection c = interface.registerCallback(f);

    viewer.runOnVisualizationThread(
        [this](pcl::visualization::PCLVisualizer& viz) { viz_cb(viz); }, "viz_cb");

    interface.start();

    while (!viewer.wasStopped()) {
      std::this_thread::sleep_for(1s);
    }

    interface.stop();
  }

  pcl::VoxelGrid<PointType> subsampling_filter_;
  pcl::NormalEstimationOMP<PointType, pcl::Normal> normal_estimation_filter_;
  typename pcl::FPFHEstimationOMP<PointType, pcl::Normal, pcl::FPFHSignature33>::Ptr
      fpfh_estimation_;
  pcl::MultiscaleFeaturePersistence<PointType, pcl::FPFHSignature33>
      feature_persistence_;
  pcl::ExtractIndices<PointType> extract_indices_filter_;

  pcl::visualization::CloudViewer viewer;
  std::string device_id_;
  std::mutex mtx_;
  // Data
  CloudPtr feature_locations_, cloud_subsampled_;
  pcl::PointCloud<pcl::Normal>::Ptr normals_;
  pcl::PointCloud<pcl::FPFHSignature33>::Ptr features_;
  typename pcl::visualization::PointCloudColorHandlerCustom<PointType>::Ptr colors_;
  pcl::IndicesPtr feature_indices_;
  CloudConstPtr cloud_;
  bool new_cloud_;
};

void
usage(char** argv)
{
  // clang-format off
  std::cout << "usage: " << argv[0] << " <device_id> <options>\n\n"
            << "where options are:\n"
            << "         -octree_leaf_size X = size of the leaf for the octree-based subsampling filter (default: " << default_subsampling_leaf_size << "\n"
            << "         -normal_search_radius X = size of the neighborhood to consider for calculating the local plane and extracting the normals (default: " << default_normal_search_radius << "\n"
            << "         -persistence_alpha X = value of alpha for the multiscale feature persistence (default: " << default_alpha << "\n"
            << "         -scales X1 X2 ... = values for the multiple scales for extracting features (default: ";
  // clang-format on
  for (const double& i : default_scales_vector)
    std::cout << i << " ";
  std::cout << "\n\n";

  openni_wrapper::OpenNIDriver& driver = openni_wrapper::OpenNIDriver::getInstance();
  if (driver.getNumberDevices() > 0) {
    for (unsigned deviceIdx = 0; deviceIdx < driver.getNumberDevices(); ++deviceIdx) {
      // clang-format off
      std::cout << "Device: " << deviceIdx + 1 << ", vendor: " << driver.getVendorName (deviceIdx) << ", product: " << driver.getProductName (deviceIdx)
              << ", connected: " << driver.getBus (deviceIdx) << " @ " << driver.getAddress (deviceIdx) << ", serial number: \'" << driver.getSerialNumber (deviceIdx) << "\'" << std::endl;
      std::cout << "device_id may be #1, #2, ... for the first second etc device in the list or" << std::endl
           << "                 bus@address for the device connected to a specific usb-bus / address combination (works only in Linux) or" << std::endl
           << "                 <serial-number> (only in Linux and for devices which provide serial numbers)"  << std::endl;
      // clang-format on
    }
  }
  else
    std::cout << "No devices connected." << std::endl;
}

int
main(int argc, char** argv)
{
  std::cout << "OpenNIFeaturePersistence - show persistent features based on the "
               "MultiscaleFeaturePersistence class using the FPFH features\n"
            << "Use \"-h\" to get more info about the available options.\n";

  if (pcl::console::find_argument(argc, argv, "-h") == -1) {
    usage(argv);
    return 1;
  }

  // Parse arguments
  float subsampling_leaf_size = default_subsampling_leaf_size;
  pcl::console::parse_argument(argc, argv, "-octree_leaf_size", subsampling_leaf_size);
  double normal_search_radius = default_normal_search_radius;
  pcl::console::parse_argument(
      argc, argv, "-normal_search_radius", normal_search_radius);
  std::vector<double> scales_vector_double = default_scales_vector;
  pcl::console::parse_multiple_arguments(argc, argv, "-scales", scales_vector_double);
  std::vector<float> scales_vector(scales_vector_double.size());
  for (std::size_t i = 0; i < scales_vector_double.size(); ++i)
    scales_vector[i] = float(scales_vector_double[i]);

  float alpha = default_alpha;
  pcl::console::parse_argument(argc, argv, "-persistence_alpha", alpha);

  pcl::OpenNIGrabber grabber("");
  if (grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgba>()) {
    PCL_INFO("PointXYZRGBA mode enabled.\n");
    OpenNIFeaturePersistence<pcl::PointXYZRGBA> v(
        subsampling_leaf_size, normal_search_radius, scales_vector, alpha, "");
    v.run();
  }
  else {
    PCL_INFO("PointXYZ mode enabled.\n");
    OpenNIFeaturePersistence<pcl::PointXYZ> v(
        subsampling_leaf_size, normal_search_radius, scales_vector, alpha, "");
    v.run();
  }

  return 0;
}
