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#ifndef PCL_FILTERS_IMPL_BOX_CLIPPER3D_HPP
#define PCL_FILTERS_IMPL_BOX_CLIPPER3D_HPP

#include <pcl/filters/box_clipper3D.h>

template<typename PointT>
pcl::BoxClipper3D<PointT>::BoxClipper3D (const Eigen::Affine3f& transformation)
: transformation_ (transformation)
{
}

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT>
pcl::BoxClipper3D<PointT>::BoxClipper3D (const Eigen::Vector3f& rodrigues, const Eigen::Vector3f& translation, const Eigen::Vector3f& box_size)
{
  setTransformation (rodrigues, translation, box_size);
}

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT>
pcl::BoxClipper3D<PointT>::~BoxClipper3D () noexcept
= default;

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> void
pcl::BoxClipper3D<PointT>::setTransformation (const Eigen::Affine3f& transformation)
{
  transformation_ = transformation;
}

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> void
pcl::BoxClipper3D<PointT>::setTransformation (const Eigen::Vector3f& rodrigues, const Eigen::Vector3f& translation, const Eigen::Vector3f& box_size)
{
  transformation_ = (Eigen::Translation3f (translation) * Eigen::AngleAxisf(rodrigues.norm (), rodrigues.normalized ()) * Eigen::Scaling (0.5f * box_size)).inverse ();
}

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> pcl::Clipper3D<PointT>*
pcl::BoxClipper3D<PointT>::clone () const
{
  return new BoxClipper3D<PointT> (transformation_);
}

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> void
pcl::BoxClipper3D<PointT>::transformPoint (const PointT& pointIn, PointT& pointOut) const
{
  const Eigen::Vector4f& point = pointIn.getVector4fMap ();
  pointOut.getVector4fMap () = transformation_ * point;

  // homogeneous value might not be 1
  if (point [3] != 1)
  {
    // homogeneous component might be uninitialized -> invalid
    if (point [3] != 0)
    {
      pointOut.x += (1 - point [3]) * transformation_.data () [ 9];
      pointOut.y += (1 - point [3]) * transformation_.data () [10];
      pointOut.z += (1 - point [3]) * transformation_.data () [11];
    }
    else
    {
      pointOut.x += transformation_.data () [ 9];
      pointOut.y += transformation_.data () [10];
      pointOut.z += transformation_.data () [11];
    }
  }
}

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> bool
pcl::BoxClipper3D<PointT>::clipPoint3D (const PointT& point) const
{
  Eigen::Vector4f point_coordinates (transformation_.matrix ()
    * point.getVector4fMap ());
  return (point_coordinates.array ().abs () <= 1).all ();
}

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
 * @attention untested code
 */
template<typename PointT> bool
pcl::BoxClipper3D<PointT>::clipLineSegment3D (PointT&, PointT&) const
{
  /*
  PointT pt1, pt2;
  transformPoint (point1, pt1);
  transformPoint (point2, pt2);

  //
  bool pt1InBox = (std::abs(pt1.x) <= 1.0 && std::abs (pt1.y) <= 1.0 && std::abs (pt1.z) <= 1.0);
  bool pt2InBox = (std::abs(pt2.x) <= 1.0 && std::abs (pt2.y) <= 1.0 && std::abs (pt2.z) <= 1.0);

  // one is outside the other one inside the box
  //if (pt1InBox ^ pt2InBox)
  if (pt1InBox && !pt2InBox)
  {
    PointT diff;
    PointT lambda;
    diff.getVector3fMap () = pt2.getVector3fMap () - pt1.getVector3fMap ();

    if (diff.x > 0)
      lambda.x = (1.0 - pt1.x) / diff.x;
    else
      lambda.x = (-1.0 - pt1.x) / diff.x;

    if (diff.y > 0)
      lambda.y = (1.0 - pt1.y) / diff.y;
    else
      lambda.y = (-1.0 - pt1.y) / diff.y;

    if (diff.z > 0)
      lambda.z = (1.0 - pt1.z) / diff.z;
    else
      lambda.z = (-1.0 - pt1.z) / diff.z;

    pt2 = pt1 + std::min(std::min(lambda.x, lambda.y), lambda.z) * diff;

    // inverse transformation
    inverseTransformPoint (pt2, point2);
    return true;
  }
  else if (!pt1InBox && pt2InBox)
  {
    return true;
  }
  */
  throw std::logic_error ("Not implemented");
  return false;
}

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
 * @attention untested code
 */
template<typename PointT> void
pcl::BoxClipper3D<PointT>::clipPlanarPolygon3D (const std::vector<PointT, Eigen::aligned_allocator<PointT> >&, std::vector<PointT, Eigen::aligned_allocator<PointT> >& clipped_polygon) const
{
  // not implemented -> clip everything
  clipped_polygon.clear ();
  throw std::logic_error ("Not implemented");
}

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
 * @attention untested code
 */
template<typename PointT> void
pcl::BoxClipper3D<PointT>::clipPlanarPolygon3D (std::vector<PointT, Eigen::aligned_allocator<PointT> >& polygon) const
{
  // not implemented -> clip everything
  polygon.clear ();
  throw std::logic_error ("Not implemented");
}

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// /ToDo: write fast version using eigen map and single matrix vector multiplication, that uses advantages of eigens SSE operations.
template<typename PointT> void
pcl::BoxClipper3D<PointT>::clipPointCloud3D (const pcl::PointCloud<PointT>& cloud_in, Indices& clipped, const Indices& indices) const
{
  clipped.clear ();
  if (indices.empty ())
  {
    clipped.reserve (cloud_in.size ());
    for (std::size_t pIdx = 0; pIdx < cloud_in.size (); ++pIdx)
      if (clipPoint3D (cloud_in[pIdx]))
        clipped.push_back (pIdx);
  }
  else
  {
    for (const auto &index : indices)
      if (clipPoint3D (cloud_in[index]))
        clipped.push_back (index);
  }
}
#endif //PCL_FILTERS_IMPL_BOX_CLIPPER3D_HPP
