/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, 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/registration/correspondence_rejection.h>
#include <pcl/conversions.h> // for fromPCLPointCloud2
#include <pcl/memory.h>      // for static_pointer_cast

namespace pcl {
namespace registration {
/**
 * @b CorrespondenceRejectorDistance implements a simple correspondence
 * rejection method based on thresholding the distances between the
 * correspondences.
 *
 * \note If \ref setInputCloud and \ref setInputTarget are given, then the
 * distances between correspondences will be estimated using the given XYZ
 * data, and not read from the set of input correspondences.
 *
 * \author Dirk Holz, Radu B. Rusu
 * \ingroup registration
 */
class PCL_EXPORTS CorrespondenceRejectorDistance : public CorrespondenceRejector {
  using CorrespondenceRejector::getClassName;
  using CorrespondenceRejector::input_correspondences_;
  using CorrespondenceRejector::rejection_name_;

public:
  using Ptr = shared_ptr<CorrespondenceRejectorDistance>;
  using ConstPtr = shared_ptr<const CorrespondenceRejectorDistance>;

  /** \brief Empty constructor. */
  CorrespondenceRejectorDistance() : max_distance_(std::numeric_limits<float>::max())
  {
    rejection_name_ = "CorrespondenceRejectorDistance";
  }

  /** \brief Empty destructor */
  ~CorrespondenceRejectorDistance() override = default;

  /** \brief Get a list of valid correspondences after rejection from the original set
   * of correspondences. \param[in] original_correspondences the set of initial
   * correspondences given \param[out] remaining_correspondences the resultant filtered
   * set of remaining correspondences
   */
  void
  getRemainingCorrespondences(const pcl::Correspondences& original_correspondences,
                              pcl::Correspondences& remaining_correspondences) override;

  /** \brief Set the maximum distance used for thresholding in correspondence rejection.
   * \param[in] distance Distance to be used as maximum distance between
   * correspondences. Correspondences with larger distances are rejected. \note
   * Internally, the distance will be stored squared.
   */
  virtual inline void
  setMaximumDistance(float distance)
  {
    max_distance_ = distance * distance;
  };

  /** \brief Get the maximum distance used for thresholding in correspondence rejection.
   */
  inline float
  getMaximumDistance() const
  {
    return std::sqrt(max_distance_);
  };

  /** \brief Provide a source point cloud dataset (must contain XYZ
   * data!), used to compute the correspondence distance.
   * \param[in] cloud a cloud containing XYZ data
   */
  template <typename PointT>
  inline void
  setInputSource(const typename pcl::PointCloud<PointT>::ConstPtr& cloud)
  {
    if (!data_container_)
      data_container_.reset(new DataContainer<PointT>);
    static_pointer_cast<DataContainer<PointT>>(data_container_)->setInputSource(cloud);
  }

  /** \brief Provide a target point cloud dataset (must contain XYZ
   * data!), used to compute the correspondence distance.
   * \param[in] target a cloud containing XYZ data
   */
  template <typename PointT>
  inline void
  setInputTarget(const typename pcl::PointCloud<PointT>::ConstPtr& target)
  {
    if (!data_container_)
      data_container_.reset(new DataContainer<PointT>);
    static_pointer_cast<DataContainer<PointT>>(data_container_)->setInputTarget(target);
  }

  /** \brief See if this rejector requires source points */
  bool
  requiresSourcePoints() const override
  {
    return (true);
  }

  /** \brief Blob method for setting the source cloud */
  void
  setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
  {
    PointCloud<PointXYZ>::Ptr cloud(new PointCloud<PointXYZ>);
    fromPCLPointCloud2(*cloud2, *cloud);
    setInputSource<PointXYZ>(cloud);
  }

  /** \brief See if this rejector requires a target cloud */
  bool
  requiresTargetPoints() const override
  {
    return (true);
  }

  /** \brief Method for setting the target cloud */
  void
  setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
  {
    PointCloud<PointXYZ>::Ptr cloud(new PointCloud<PointXYZ>);
    fromPCLPointCloud2(*cloud2, *cloud);
    setInputTarget<PointXYZ>(cloud);
  }

  /** \brief Provide a pointer to the search object used to find correspondences in
   * the target cloud.
   * \param[in] tree a pointer to the spatial search object.
   * \param[in] force_no_recompute If set to true, this tree will NEVER be
   * recomputed, regardless of calls to setInputTarget. Only use if you are
   * confident that the tree will be set correctly.
   */
  template <typename PointT>
  inline void
  setSearchMethodTarget(const typename pcl::search::KdTree<PointT>::Ptr& tree,
                        bool force_no_recompute = false)
  {
    static_pointer_cast<DataContainer<PointT>>(data_container_)
        ->setSearchMethodTarget(tree, force_no_recompute);
  }

protected:
  /** \brief Apply the rejection algorithm.
   * \param[out] correspondences the set of resultant correspondences.
   */
  inline void
  applyRejection(pcl::Correspondences& correspondences) override
  {
    getRemainingCorrespondences(*input_correspondences_, correspondences);
  }

  /** \brief The maximum distance threshold between two correspondent points in source
   * <-> target. If the distance is larger than this threshold, the points will not be
   * ignored in the alignment process.
   */
  float max_distance_;

  using DataContainerPtr = DataContainerInterface::Ptr;

  /** \brief A pointer to the DataContainer object containing the input and target point
   * clouds */
  DataContainerPtr data_container_;
};

} // namespace registration
} // namespace pcl
