/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2012, Willow Garage, 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.
 *
 * $Id$
 *
 */

#pragma once

#include <pcl/segmentation/planar_region.h>
#include <pcl/pcl_base.h>
#include <pcl/pcl_macros.h>
#include <pcl/common/angles.h>
#include <pcl/common/utils.h>
#include <pcl/PointIndices.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/segmentation/plane_coefficient_comparator.h>
#include <pcl/segmentation/plane_refinement_comparator.h>

namespace pcl
{
  /** \brief OrganizedMultiPlaneSegmentation finds all planes present in the
    * input cloud, and outputs a vector of plane equations, as well as a vector
    * of point clouds corresponding to the inliers of each detected plane.  Only
    * planes with more than min_inliers points are detected.
    * Templated on point type, normal type, and label type
    *
    * \author Alex Trevor, Suat Gedikli
    */
  template<typename PointT, typename PointNT, typename PointLT>
  class OrganizedMultiPlaneSegmentation : public PCLBase<PointT>
  {
    using PCLBase<PointT>::input_;
    using PCLBase<PointT>::indices_;
    using PCLBase<PointT>::initCompute;
    using PCLBase<PointT>::deinitCompute;

    public:
      using PointCloud = pcl::PointCloud<PointT>;
      using PointCloudPtr = typename PointCloud::Ptr;
      using PointCloudConstPtr = typename PointCloud::ConstPtr;

      using PointCloudN = pcl::PointCloud<PointNT>;
      using PointCloudNPtr = typename PointCloudN::Ptr;
      using PointCloudNConstPtr = typename PointCloudN::ConstPtr;

      using PointCloudL = pcl::PointCloud<PointLT>;
      using PointCloudLPtr = typename PointCloudL::Ptr;
      using PointCloudLConstPtr = typename PointCloudL::ConstPtr;

      using PlaneComparator = pcl::PlaneCoefficientComparator<PointT, PointNT>;
      using PlaneComparatorPtr = typename PlaneComparator::Ptr;
      using PlaneComparatorConstPtr = typename PlaneComparator::ConstPtr;

      using PlaneRefinementComparator = pcl::PlaneRefinementComparator<PointT, PointNT, PointLT>;
      using PlaneRefinementComparatorPtr = typename PlaneRefinementComparator::Ptr;
      using PlaneRefinementComparatorConstPtr = typename PlaneRefinementComparator::ConstPtr;

      /** \brief Constructor for OrganizedMultiPlaneSegmentation. */
      OrganizedMultiPlaneSegmentation() = default;

      /** \brief Destructor for OrganizedMultiPlaneSegmentation. */
      
      ~OrganizedMultiPlaneSegmentation () override = default;

      /** \brief Provide a pointer to the input normals.
        * \param[in] normals the input normal cloud
        */
      inline void
      setInputNormals (const PointCloudNConstPtr &normals) 
      {
        normals_ = normals;
      }

      /** \brief Get the input normals. */
      inline PointCloudNConstPtr
      getInputNormals () const
      {
        return (normals_);
      }

      /** \brief Set the minimum number of inliers required for a plane
        * \param[in] min_inliers the minimum number of inliers required per plane
        */
      inline void
      setMinInliers (unsigned min_inliers)
      {
        min_inliers_ = min_inliers;
      }

      /** \brief Get the minimum number of inliers required per plane. */
      inline unsigned
      getMinInliers () const
      {
        return (min_inliers_);
      }

      /** \brief Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.
        * \param[in] angular_threshold the tolerance in radians
        */
      inline void
      setAngularThreshold (double angular_threshold)
      {
        angular_threshold_ = angular_threshold;
      }

      /** \brief Get the angular threshold in radians for difference in normal direction between neighboring points, to be considered part of the same plane. */
      inline double
      getAngularThreshold () const
      {
        return (angular_threshold_);
      }

      /** \brief Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) to the plane between neighboring points, to be considered part of the same plane.
        * \param[in] distance_threshold the tolerance in meters
        */
      inline void
      setDistanceThreshold (double distance_threshold)
      {
        distance_threshold_ = distance_threshold;
      }

      /** \brief Get the distance threshold in meters (d component of plane equation) between neighboring points, to be considered part of the same plane. */
      inline double
      getDistanceThreshold () const
      {
        return (distance_threshold_);
      }

      /** \brief Set the maximum curvature allowed for a planar region.
        * \param[in] maximum_curvature the maximum curvature
        */
      inline void
      setMaximumCurvature (double maximum_curvature)
      {
        maximum_curvature_ = maximum_curvature;
      }

      /** \brief Get the maximum curvature allowed for a planar region. */
      inline double
      getMaximumCurvature () const
      {
        return (maximum_curvature_);
      }

      /** \brief Provide a pointer to the comparator to be used for segmentation.
        * \param[in] compare A pointer to the comparator to be used for segmentation.
        */
      void
      setComparator (const PlaneComparatorPtr& compare)
      {
        compare_ = compare;
      }

      /** \brief Provide a pointer to the comparator to be used for refinement.
        * \param[in] compare A pointer to the comparator to be used for refinement.
        */
      void
      setRefinementComparator (const PlaneRefinementComparatorPtr& compare)
      {
        refinement_compare_ = compare;
      }

      /** \brief Set whether or not to project boundary points to the plane, or leave them in the original 3D space.
        * \param[in] project_points true if points should be projected, false if not.
        */
      void
      setProjectPoints (bool project_points)
      {
        project_points_ = project_points;
      }

      /** \brief Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()
        * \param[out] model_coefficients a vector of model_coefficients for each plane found in the input cloud
        * \param[out] inlier_indices a vector of inliers for each detected plane
        * \param[out] centroids a vector of centroids for each plane
        * \param[out] covariances a vector of covariance matrices for the inliers of each plane
        * \param[out] labels a point cloud for the connected component labels of each pixel
        * \param[out] label_indices a vector of PointIndices for each labeled component
        */
      void
      segment (std::vector<ModelCoefficients>& model_coefficients, 
               std::vector<PointIndices>& inlier_indices,
               std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >& centroids,
               std::vector <Eigen::Matrix3f, Eigen::aligned_allocator<Eigen::Matrix3f> >& covariances,
               pcl::PointCloud<PointLT>& labels, 
               std::vector<pcl::PointIndices>& label_indices);

      /** \brief Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()
        * \param[out] model_coefficients a vector of model_coefficients for each plane found in the input cloud
        * \param[out] inlier_indices a vector of inliers for each detected plane
        */
      void
      segment (std::vector<ModelCoefficients>& model_coefficients, 
               std::vector<PointIndices>& inlier_indices);

      /** \brief Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()
        * \param[out] regions a list of resultant planar polygonal regions
        */
      void
      segment (std::vector<PlanarRegion<PointT>, Eigen::aligned_allocator<PlanarRegion<PointT> > >& regions);
      
      /** \brief Perform a segmentation, as well as an additional refinement step.  This helps with including points whose normals may not match neighboring points well, but may match the planar model well.
        * \param[out] regions A list of regions generated by segmentation and refinement.
        */
      void
      segmentAndRefine (std::vector<PlanarRegion<PointT>, Eigen::aligned_allocator<PlanarRegion<PointT> > >& regions);

      /** \brief Perform a segmentation, as well as additional refinement step.  Returns intermediate data structures for use in
        * subsequent processing.
        * \param[out] regions A vector of PlanarRegions generated by segmentation
        * \param[out] model_coefficients A vector of model coefficients for each segmented plane
        * \param[out] inlier_indices A vector of PointIndices, indicating the inliers to each segmented plane
        * \param[out] labels A PointCloud<PointLT> corresponding to the resulting segmentation.
        * \param[out] label_indices A vector of PointIndices for each label
        * \param[out] boundary_indices A vector of PointIndices corresponding to the outer boundary / contour of each label
        */
      void
      segmentAndRefine (std::vector<PlanarRegion<PointT>, Eigen::aligned_allocator<PlanarRegion<PointT> > >& regions,
                        std::vector<ModelCoefficients>& model_coefficients,
                        std::vector<PointIndices>& inlier_indices,
                        PointCloudLPtr& labels,
                        std::vector<pcl::PointIndices>& label_indices,
                        std::vector<pcl::PointIndices>& boundary_indices);

      /** \brief Perform a refinement of an initial segmentation, by comparing points to adjacent regions detected by the initial segmentation.
        * \param [in] model_coefficients The list of segmented model coefficients
        * \param [in] inlier_indices The list of segmented inlier indices, corresponding to each model
        * \param [in] labels The labels produced by the initial segmentation
        * \param [in] label_indices The list of indices corresponding to each label
        */
      void
      refine (std::vector<ModelCoefficients>& model_coefficients,
              std::vector<PointIndices>& inlier_indices,
              PointCloudLPtr& labels,
              std::vector<pcl::PointIndices>& label_indices);

    protected:

      /** \brief A pointer to the input normals */
      PointCloudNConstPtr normals_{nullptr};

      /** \brief The minimum number of inliers required for each plane. */
      unsigned min_inliers_{1000};

      /** \brief The tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane. */
      double angular_threshold_{pcl::deg2rad (3.0)};

      /** \brief The tolerance in meters for difference in perpendicular distance (d component of plane equation) to the plane between neighboring points, to be considered part of the same plane. */
      double distance_threshold_{0.02};

      /** \brief The tolerance for maximum curvature after fitting a plane.  Used to remove smooth, but non-planar regions. */
      double maximum_curvature_{0.001};

      /** \brief Whether or not points should be projected to the plane, or left in the original 3D space. */
      bool project_points_{false};

      /** \brief A comparator for comparing neighboring pixels' plane equations. */
      PlaneComparatorPtr compare_{new PlaneComparator};

      /** \brief A comparator for use on the refinement step.  Compares points to regions segmented in the first pass. */
      PlaneRefinementComparatorPtr refinement_compare_{new PlaneRefinementComparator};

      /** \brief Class getName method. */
      virtual std::string
      getClassName () const
      {
        return ("OrganizedMultiPlaneSegmentation");
      }
  };

}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/segmentation/impl/organized_multi_plane_segmentation.hpp>
#endif
