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#pragma once

#include <pcl/recognition/ransac_based/hypothesis.h>
#include <pcl/recognition/ransac_based/model_library.h>
#include <pcl/recognition/ransac_based/rigid_transform_space.h>
#include <pcl/recognition/ransac_based/orr_octree.h>
#include <pcl/recognition/ransac_based/orr_octree_zprojection.h>
#include <pcl/recognition/ransac_based/simple_octree.h>
#include <pcl/recognition/ransac_based/trimmed_icp.h>
#include <pcl/recognition/ransac_based/orr_graph.h>
#include <pcl/recognition/ransac_based/auxiliary.h>
#include <pcl/recognition/ransac_based/bvh.h>
#include <pcl/pcl_exports.h>
#include <pcl/point_cloud.h>
#include <cmath>
#include <string>
#include <vector>
#include <list>

#define OBJ_REC_RANSAC_VERBOSE

namespace pcl
{
  namespace recognition
  {
    /** \brief This is a RANSAC-based 3D object recognition method. Do the following to use it: (i) call addModel() k times with k different models
      * representing the objects to be recognized and (ii) call recognize() with the 3D scene in which the objects should be recognized. Recognition means both
      * object identification and pose (position + orientation) estimation. Check the method descriptions for more details.
      *
      * \note If you use this code in any academic work, please cite:
      *
      *   - Chavdar Papazov, Sami Haddadin, Sven Parusel, Kai Krieger and Darius Burschka.
      *     Rigid 3D geometry matching for grasping of known objects in cluttered scenes.
      *     The International Journal of Robotics Research 2012. DOI: 10.1177/0278364911436019
      *
      *   - Chavdar Papazov and Darius Burschka.
      *     An Efficient RANSAC for 3D Object Recognition in Noisy and Occluded Scenes.
      *     In Proceedings of the 10th Asian Conference on Computer Vision (ACCV'10),
      *     November 2010.
      *
      *
      * \author Chavdar Papazov
      * \ingroup recognition
      */
    class PCL_EXPORTS ObjRecRANSAC
    {
      public:
        using PointCloudIn = ModelLibrary::PointCloudIn;
        using PointCloudN = ModelLibrary::PointCloudN;

        using BVHH = BVH<Hypothesis *>;

        /** \brief This is an output item of the ObjRecRANSAC::recognize() method. It contains the recognized model, its name (the ones passed to
          * ObjRecRANSAC::addModel()), the rigid transform which aligns the model with the input scene and the match confidence which is a number
          * in the interval (0, 1] which gives the fraction of the model surface area matched to the scene. E.g., a match confidence of 0.3 means
          * that 30% of the object surface area was matched to the scene points. If the scene is represented by a single range image, the match
          * confidence can not be greater than 0.5 since the range scanner sees only one side of each object.
          */
        class Output
        {
          public:
            Output (const std::string& object_name, const float rigid_transform[12], float match_confidence, void* user_data) :
              object_name_ (object_name),
              match_confidence_ (match_confidence),
              user_data_ (user_data)
            {
              std::copy(rigid_transform, rigid_transform + 12, this->rigid_transform_);
            }
            virtual ~Output () = default;

          public:
            std::string object_name_;
            float rigid_transform_[12];
            float match_confidence_;
            void* user_data_;
        };

        class OrientedPointPair
        {
            public:
              OrientedPointPair (const float *p1, const float *n1, const float *p2, const float *n2)
              : p1_ (p1), n1_ (n1), p2_ (p2), n2_ (n2)
              {
              }

              virtual ~OrientedPointPair () = default;

            public:
              const float *p1_, *n1_, *p2_, *n2_;
        };

        class HypothesisCreator
        {
          public:
            HypothesisCreator () = default;
            virtual ~HypothesisCreator () = default;

            Hypothesis* create (const SimpleOctree<Hypothesis, HypothesisCreator, float>::Node* ) const { return new Hypothesis ();}
        };

        using HypothesisOctree = SimpleOctree<Hypothesis, HypothesisCreator, float>;

      public:
        /** \brief Constructor with some important parameters which can not be changed once an instance of that class is created.
          *
          * \param[in] pair_width should be roughly half the extent of the visible object part. This means, for each object point p there should be (at least)
          * one point q (from the same object) such that ||p - q|| <= pair_width. Tradeoff: smaller values allow for detection in more occluded scenes but lead
          * to more imprecise alignment. Bigger values lead to better alignment but require large visible object parts (i.e., less occlusion).
          *
          * \param[in] voxel_size is the size of the leafs of the octree, i.e., the "size" of the discretization. Tradeoff: High values lead to less
          * computation time but ignore object details. Small values allow to better distinguish between objects, but will introduce more holes in the resulting
          * "voxel-surface" (especially for a sparsely sampled scene). */
        ObjRecRANSAC (float pair_width, float voxel_size);
        virtual ~ObjRecRANSAC ()
        {
          this->clear ();
          this->clearTestData ();
        }

        /** \brief Removes all models from the model library and releases some memory dynamically allocated by this instance. */
        void
        inline clear()
        {
          model_library_.removeAllModels ();
          scene_octree_.clear ();
          scene_octree_proj_.clear ();
          sampled_oriented_point_pairs_.clear ();
          transform_space_.clear ();
          scene_octree_points_.reset ();
        }

        /** \brief This is a threshold. The larger the value the more point pairs will be considered as co-planar and will
          * be ignored in the off-line model pre-processing and in the online recognition phases. This makes sense only if
          * "ignore co-planar points" is on. Call this method before calling addModel. This method calls the corresponding
          * method of the model library. */
        inline void
        setMaxCoplanarityAngleDegrees (float max_coplanarity_angle_degrees)
        {
          max_coplanarity_angle_ = max_coplanarity_angle_degrees*AUX_DEG_TO_RADIANS;
          model_library_.setMaxCoplanarityAngleDegrees (max_coplanarity_angle_degrees);
        }

        inline void
        setSceneBoundsEnlargementFactor (float value)
        {
          scene_bounds_enlargement_factor_ = value;
        }

        /** \brief Default is on. This method calls the corresponding method of the model library. */
        inline void
        ignoreCoplanarPointPairsOn ()
        {
          ignore_coplanar_opps_ = true;
          model_library_.ignoreCoplanarPointPairsOn ();
        }

        /** \brief Default is on. This method calls the corresponding method of the model library. */
        inline void
        ignoreCoplanarPointPairsOff ()
        {
          ignore_coplanar_opps_ = false;
          model_library_.ignoreCoplanarPointPairsOff ();
        }

        inline void
        icpHypothesesRefinementOn ()
        {
          do_icp_hypotheses_refinement_ = true;
        }

        inline void
        icpHypothesesRefinementOff ()
        {
          do_icp_hypotheses_refinement_ = false;
        }

        /** \brief Add an object model to be recognized.
          *
          * \param[in] points are the object points.
          * \param[in] normals at each point.
          * \param[in] object_name is an identifier for the object. If that object is detected in the scene 'object_name'
          * is returned by the recognition method and you know which object has been detected. Note that 'object_name' has
          * to be unique!
          * \param[in] user_data is a pointer to some data (can be NULL)
          *
          * The method returns true if the model was successfully added to the model library and false otherwise (e.g., if 'object_name' is already in use).
          */
        inline bool
        addModel (const PointCloudIn& points, const PointCloudN& normals, const std::string& object_name, void* user_data = nullptr)
        {
          return (model_library_.addModel (points, normals, object_name, frac_of_points_for_icp_refinement_, user_data));
        }

        /** \brief This method performs the recognition of the models loaded to the model library with the method addModel().
          *
          * \param[in]  scene is the 3d scene in which the object should be recognized.
          * \param[in]  normals are the scene normals.
          * \param[out] recognized_objects is the list of output items each one containing the recognized model instance, its name, the aligning rigid transform
          * and the match confidence (see ObjRecRANSAC::Output for further explanations).
          * \param[in]  success_probability is the user-defined probability of detecting all objects in the scene.
          */
        void
        recognize (const PointCloudIn& scene, const PointCloudN& normals, std::list<ObjRecRANSAC::Output>& recognized_objects, double success_probability = 0.99);

        inline void
        enterTestModeSampleOPP ()
        {
          rec_mode_ = ObjRecRANSAC::SAMPLE_OPP;
        }

        inline void
        enterTestModeTestHypotheses ()
        {
          rec_mode_ = ObjRecRANSAC::TEST_HYPOTHESES;
        }

        inline void
        leaveTestMode ()
        {
          rec_mode_ = ObjRecRANSAC::FULL_RECOGNITION;
        }

        /** \brief This function is useful for testing purposes. It returns the oriented point pairs which were sampled from the
          * scene during the recognition process. Makes sense only if some of the testing modes are active. */
        inline const std::list<ObjRecRANSAC::OrientedPointPair>&
        getSampledOrientedPointPairs () const
        {
          return (sampled_oriented_point_pairs_);
        }

        /** \brief This function is useful for testing purposes. It returns the accepted hypotheses generated during the
          * recognition process. Makes sense only if some of the testing modes are active. */
        inline const std::vector<Hypothesis>&
        getAcceptedHypotheses () const
        {
          return (accepted_hypotheses_);
        }

        /** \brief This function is useful for testing purposes. It returns the accepted hypotheses generated during the
          * recognition process. Makes sense only if some of the testing modes are active. */
        inline void
        getAcceptedHypotheses (std::vector<Hypothesis>& out) const
        {
          out = accepted_hypotheses_;
        }

        /** \brief Returns the hash table in the model library. */
        inline const pcl::recognition::ModelLibrary::HashTable&
        getHashTable () const
        {
          return (model_library_.getHashTable ());
        }

        inline const ModelLibrary&
        getModelLibrary () const
        {
          return (model_library_);
        }

        inline const ModelLibrary::Model*
        getModel (const std::string& name) const
        {
          return (model_library_.getModel (name));
        }

        inline const ORROctree&
        getSceneOctree () const
        {
          return (scene_octree_);
        }

        inline RigidTransformSpace&
        getRigidTransformSpace ()
        {
          return (transform_space_);
        }

        inline float
        getPairWidth () const
        {
          return pair_width_;
        }

      protected:
        enum Recognition_Mode {SAMPLE_OPP, TEST_HYPOTHESES, /*BUILD_CONFLICT_GRAPH,*/ FULL_RECOGNITION};

        friend class ModelLibrary;

        inline int
        computeNumberOfIterations (double success_probability) const
        {
          // 'p_obj' is the probability that given that the first sample point belongs to an object,
          // the second sample point will belong to the same object
          constexpr double p_obj = 0.25f;
          // old version: p = p_obj*relative_obj_size_*fraction_of_pairs_in_hash_table_;
          const double p = p_obj * relative_obj_size_;

          if ( 1.0 - p <= 0.0 )
            return 1;

          return static_cast<int> (std::log (1.0-success_probability)/std::log (1.0-p) + 1.0);
        }

        inline void
        clearTestData ()
        {
          sampled_oriented_point_pairs_.clear ();
          accepted_hypotheses_.clear ();
          transform_space_.clear ();
        }

        void
        sampleOrientedPointPairs (int num_iterations, const std::vector<ORROctree::Node*>& full_scene_leaves, std::list<OrientedPointPair>& output) const;

        int
        generateHypotheses (const std::list<OrientedPointPair>& pairs, std::list<HypothesisBase>& out) const;

        /** \brief Groups close hypotheses in 'hypotheses'. Saves a representative for each group in 'out'. Returns the
          * number of hypotheses after grouping. */
        int
        groupHypotheses(std::list<HypothesisBase>& hypotheses, int num_hypotheses, RigidTransformSpace& transform_space,
            HypothesisOctree& grouped_hypotheses) const;

        inline void
        testHypothesis (Hypothesis* hypothesis, int& match, int& penalty) const;

        inline void
        testHypothesisNormalBased (Hypothesis* hypothesis, float& match) const;

        void
        buildGraphOfCloseHypotheses (HypothesisOctree& hypotheses, ORRGraph<Hypothesis>& graph) const;

        void
        filterGraphOfCloseHypotheses (ORRGraph<Hypothesis>& graph, std::vector<Hypothesis>& out) const;

        void
        buildGraphOfConflictingHypotheses (const BVHH& bvh, ORRGraph<Hypothesis*>& graph) const;

        void
        filterGraphOfConflictingHypotheses (ORRGraph<Hypothesis*>& graph, std::list<ObjRecRANSAC::Output>& recognized_objects) const;

    	/** \brief Computes the rigid transform that maps the line (a1, b1) to (a2, b2).
    	 * The computation is based on the corresponding points 'a1' <-> 'a2' and 'b1' <-> 'b2'
    	 * and the normals 'a1_n', 'b1_n', 'a2_n', and 'b2_n'. The result is saved in
    	 * 'rigid_transform' which is an array of length 12. The first 9 elements are the
    	 * rotational part (row major order) and the last 3 are the translation. */
        inline void
        computeRigidTransform(
          const float *a1, const float *a1_n, const float *b1, const float* b1_n,
          const float *a2, const float *a2_n, const float *b2, const float* b2_n,
          float* rigid_transform) const
        {
          // Some local variables
          float o1[3], o2[3], x1[3], x2[3], y1[3], y2[3], z1[3], z2[3], tmp1[3], tmp2[3], Ro1[3], invFrame1[3][3];

          // Compute the origins
          o1[0] = 0.5f*(a1[0] + b1[0]);
          o1[1] = 0.5f*(a1[1] + b1[1]);
          o1[2] = 0.5f*(a1[2] + b1[2]);

          o2[0] = 0.5f*(a2[0] + b2[0]);
          o2[1] = 0.5f*(a2[1] + b2[1]);
          o2[2] = 0.5f*(a2[2] + b2[2]);

          // Compute the x-axes
          aux::diff3 (b1, a1, x1); aux::normalize3 (x1);
          aux::diff3 (b2, a2, x2); aux::normalize3 (x2);
          // Compute the y-axes. First y-axis
          aux::projectOnPlane3 (a1_n, x1, tmp1); aux::normalize3 (tmp1);
          aux::projectOnPlane3 (b1_n, x1, tmp2); aux::normalize3 (tmp2);
          aux::sum3 (tmp1, tmp2, y1); aux::normalize3 (y1);
          // Second y-axis
          aux::projectOnPlane3 (a2_n, x2, tmp1); aux::normalize3 (tmp1);
          aux::projectOnPlane3 (b2_n, x2, tmp2); aux::normalize3 (tmp2);
          aux::sum3 (tmp1, tmp2, y2); aux::normalize3 (y2);
          // Compute the z-axes
          aux::cross3 (x1, y1, z1);
          aux::cross3 (x2, y2, z2);

          // 1. Invert the matrix [x1|y1|z1] (note that x1, y1, and z1 are treated as columns!)
          invFrame1[0][0] = x1[0]; invFrame1[0][1] = x1[1]; invFrame1[0][2] = x1[2];
          invFrame1[1][0] = y1[0]; invFrame1[1][1] = y1[1]; invFrame1[1][2] = y1[2];
          invFrame1[2][0] = z1[0]; invFrame1[2][1] = z1[1]; invFrame1[2][2] = z1[2];
          // 2. Compute the desired rotation as rigid_transform = [x2|y2|z2]*invFrame1
          aux::mult3x3 (x2, y2, z2, invFrame1, rigid_transform);

          // Construct the translation which is the difference between the rotated o1 and o2
          aux::mult3x3 (rigid_transform, o1, Ro1);
          rigid_transform[9]  = o2[0] - Ro1[0];
          rigid_transform[10] = o2[1] - Ro1[1];
          rigid_transform[11] = o2[2] - Ro1[2];
        }

        /** \brief Computes the signature of the oriented point pair ((p1, n1), (p2, n2)) consisting of the angles between
          * \param p1
          * \param n1
          * \param p2
          * \param n2
          * \param[out] signature is an array of three doubles saving the three angles in the order shown above. */
        static inline void
        compute_oriented_point_pair_signature (const float *p1, const float *n1, const float *p2, const float *n2, float signature[3])
        {
          // Get the line from p1 to p2
          float cl[3] = {p2[0] - p1[0], p2[1] - p1[1], p2[2] - p1[2]};
          aux::normalize3 (cl);

          signature[0] = std::acos (aux::clamp (aux::dot3 (n1,cl), -1.0f, 1.0f)); cl[0] = -cl[0]; cl[1] = -cl[1]; cl[2] = -cl[2];
          signature[1] = std::acos (aux::clamp (aux::dot3 (n2,cl), -1.0f, 1.0f));
          signature[2] = std::acos (aux::clamp (aux::dot3 (n1,n2), -1.0f, 1.0f));
        }

      protected:
        // Parameters
        float pair_width_;
        float voxel_size_;
        float position_discretization_;
        float rotation_discretization_;
        float abs_zdist_thresh_;
        float relative_obj_size_{0.05f};
        float visibility_{0.2f};
        float relative_num_of_illegal_pts_{0.02f};
        float intersection_fraction_{0.03f};
        float max_coplanarity_angle_;
        float scene_bounds_enlargement_factor_{0.25f};
        bool ignore_coplanar_opps_{true};
        float frac_of_points_for_icp_refinement_{0.3f};
        bool do_icp_hypotheses_refinement_{true};

        ModelLibrary model_library_;
        ORROctree scene_octree_;
        ORROctreeZProjection scene_octree_proj_;
        RigidTransformSpace transform_space_;
        TrimmedICP<pcl::PointXYZ, float> trimmed_icp_;
        PointCloudIn::Ptr scene_octree_points_;

        std::list<OrientedPointPair> sampled_oriented_point_pairs_;
        std::vector<Hypothesis> accepted_hypotheses_;
        Recognition_Mode rec_mode_{ObjRecRANSAC::FULL_RECOGNITION};
    };
  } // namespace recognition
} // namespace pcl
