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#pragma once

#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/surface/processing.h>

namespace pcl
{

  /** \brief Bilateral filtering implementation, based on the following paper:
    *   * Kopf, Johannes and Cohen, Michael F. and Lischinski, Dani and Uyttendaele, Matt - Joint Bilateral Upsampling,
    *   * ACM Transactions in Graphics, July 2007
    *
    * Takes in a colored organized point cloud (i.e. PointXYZRGB or PointXYZRGBA), that might contain nan values for the
    * depth information, and it will return an upsampled version of this cloud, based on the formula:
    * \f[
    *    \tilde{S}_p = \frac{1}{k_p} \sum_{q_d \in \Omega} {S_{q_d} f(||p_d - q_d|| g(||\tilde{I}_p-\tilde{I}_q||})
    * \f]
    *
    * where S is the depth image, I is the RGB image and f and g are Gaussian functions centered at 0 and with
    * standard deviations \f$\sigma_{color}\f$ and \f$\sigma_{depth}\f$
    */
  template <typename PointInT, typename PointOutT>
  class BilateralUpsampling: public CloudSurfaceProcessing<PointInT, PointOutT>
  {
    public:
      using Ptr = shared_ptr<BilateralUpsampling<PointInT, PointOutT> >;
      using ConstPtr = shared_ptr<const BilateralUpsampling<PointInT, PointOutT> >;

      using PCLBase<PointInT>::input_;
      using PCLBase<PointInT>::indices_;
      using PCLBase<PointInT>::initCompute;
      using PCLBase<PointInT>::deinitCompute;
      using CloudSurfaceProcessing<PointInT, PointOutT>::process;

      using PointCloudOut = pcl::PointCloud<PointOutT>;

      Eigen::Matrix3f KinectVGAProjectionMatrix, KinectSXGAProjectionMatrix;

      /** \brief Constructor. */
      BilateralUpsampling ()
      {
        KinectVGAProjectionMatrix << 525.0f, 0.0f, 320.0f,
                                     0.0f, 525.0f, 240.0f,
                                     0.0f, 0.0f, 1.0f;
        KinectSXGAProjectionMatrix << 1050.0f, 0.0f, 640.0f,
                                      0.0f, 1050.0f, 480.0f,
                                      0.0f, 0.0f, 1.0f;
      };

      /** \brief Method that sets the window size for the filter
        * \param[in] window_size the given window size
        */
      inline void
      setWindowSize (int window_size) { window_size_ = window_size; }

      /** \brief Returns the filter window size */
      inline int
      getWindowSize () const { return (window_size_); }

      /** \brief Method that sets the sigma color parameter
        * \param[in] sigma_color the new value to be set
        */
      inline void
      setSigmaColor (const float &sigma_color) { sigma_color_ = sigma_color; }

      /** \brief Returns the current sigma color value */
      inline float
      getSigmaColor () const { return (sigma_color_); }

      /** \brief Method that sets the sigma depth parameter
        * \param[in] sigma_depth the new value to be set
        */
      inline void
      setSigmaDepth (const float &sigma_depth) { sigma_depth_ = sigma_depth; }

      /** \brief Returns the current sigma depth value */
      inline float
      getSigmaDepth () const { return (sigma_depth_); }

      /** \brief Method that sets the projection matrix to be used when unprojecting the points in the depth image
        * back to (x,y,z) positions.
        * \note There are 2 matrices already set in the class, used for the 2 modes available for the Kinect. They
        * are tuned to be the same as the ones in the OpenNiGrabber
        * \param[in] projection_matrix the new projection matrix to be set */
      inline void
      setProjectionMatrix (const Eigen::Matrix3f &projection_matrix) { projection_matrix_ = projection_matrix; }

      /** \brief Returns the current projection matrix */
      inline Eigen::Matrix3f
      getProjectionMatrix () const { return (projection_matrix_); }

      /** \brief Method that does the actual processing on the input cloud.
        * \param[out] output the container of the resulting upsampled cloud */
      void
      process (pcl::PointCloud<PointOutT> &output) override;

    protected:
      void
      performProcessing (pcl::PointCloud<PointOutT> &output) override;

      /** \brief Computes the distance for depth and RGB.
        * \param[out] val_exp_depth distance values for depth
        * \param[out] val_exp_rgb distance values for RGB */
      void
      computeDistances (Eigen::MatrixXf &val_exp_depth, Eigen::VectorXf &val_exp_rgb);

    private:
      int window_size_{5};
      float sigma_color_{15.0f}, sigma_depth_{0.5f};
      Eigen::Matrix3f projection_matrix_, unprojection_matrix_;

    public:
      PCL_MAKE_ALIGNED_OPERATOR_NEW
  };
}
