/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2012, Willow Garage, Inc.
 *
 *  All rights reserved.
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 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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 *
 * $Id: $
 * @author: Koen Buys
 */

#pragma once

#include <pcl/gpu/containers/device_array.h>
#include <cuda_runtime.h> // for float4, uchar4, delete this in future

namespace pcl
{
  namespace gpu
  {
    namespace people
    {
      // Some types for the tree
      enum 
      { 
        NO_CHILD  = -3,
        LEAF      = -2,
        ROOT      = -1,
        NO_DATA   = 255  /** \brief We have no depth data for this part of the image **/
      };  

      enum { NUM_PARTS  = 25 };         /** \brief We have 25 body parts defined **/
      enum { MAX_CHILD  = 4  };         /** \brief a parent node has maximum 4 children **/
      enum { NR_TREES   = 4  };         /** \brief The maximum supported number of trees **/

      // Some defines for geometry
      enum { FOCAL       = 525 };        /** \brief Focal length of rgb camera in pixels **/
      enum { WIDTH       = 640 };
      enum { HEIGHT      = 480 };
      enum { RATIO       = WIDTH/HEIGHT };
      enum { XML_VERSION = 1};          /** \brief This indicates the current used xml file version (for people lib only) **/

      enum { NUM_ATTRIBS = 2000 };
      enum { NUM_LABELS  = 32 };        /** \brief Our code is foreseen to use maximal use 32 labels **/

      /** @todo implement label 25 to 29 **/
      enum part_t
      {
        Lfoot       = 0,
        Lleg        = 1,
        Lknee       = 2,
        Lthigh      = 3,
        Rfoot       = 4,
        Rleg        = 5,
        Rknee       = 6,
        Rthigh      = 7,
        Rhips       = 8,
        Lhips       = 9,
        Neck        = 10,
        Rarm        = 11,
        Relbow      = 12,
        Rforearm    = 13,
        Rhand       = 14,
        Larm        = 15,
        Lelbow      = 16,
        Lforearm    = 17,
        Lhand       = 18,
        FaceLB      = 19,
        FaceRB      = 20,
        FaceLT      = 21,
        FaceRT      = 22,
        Rchest      = 23,
        Lchest      = 24,
        Lshoulder   = 25,
        Rshoulder   = 26,
        Groundplane = 27,
        Ceiling     = 28,
        Background  = 29,
        Plane       = 30,
        NOLABEL     = 31
      };

      using Cloud = DeviceArray2D<float4>;
      using Image = DeviceArray2D<uchar4>;

      using Depth = DeviceArray2D<unsigned short>;
      using Labels = DeviceArray2D<unsigned char>;      
      using HueImage = DeviceArray2D<float>;
      using Mask = DeviceArray2D<unsigned char>;      
      
      /**
       * @brief This LUT contains the max primary eigenvalue for each part
       * @todo read this from XML file
       **/
      static const float LUT_max_part_size[] =
      {
          0.5f,            // 0 Lfoot
          0.7f,            // 1 Lleg
          0.6f,            // 2 Lknee
          0.6f,            // 3 Lthigh
          0.5f,            // 4 Rfoot
          0.7f,            // 5 Rleg
          0.6f,            // 6 Rknee
          0.6f,            // 7 Rthigh
          0.9f,            // 8 Rhips
          0.9f,            // 9 Lhips
          0.5f,            // 10 Neck
          0.7f,            // 11 Rarm
          0.5f,            // 12 Relbow
          0.7f,            // 13 Rforearm
          0.5f,            // 14 Rhand
          0.7f,            // 15 Larm
          0.5f,            // 16 Lelbow
          0.7f,            // 17 Lforearm
          0.5f,            // 18 Lhand
          0.5f,            // 19 FaceLB
          0.5f,            // 20 FaceRB
          0.5f,            // 21 FaceLT
          0.5f,            // 22 FaceRT
          0.9f,            // 23 Rchest
          0.9f             // 24 Lchest
      };

      /**
       *  @brief This LUT contains the ideal length between this part and his children
       **/
      static const float LUT_ideal_length[][4] = 
      {
        { -1.0f,  -1.0f,  -1.0f,  -1.0f}, // 0 Lfoot
        {  0.2f,  -1.0f,  -1.0f,  -1.0f}, // 1 Lleg
        {  0.2f,  -1.0f,  -1.0f,  -1.0f}, // 2 Lknee
        {  0.3f,  -1.0f,  -1.0f,  -1.0f}, // 3 Lthigh
        { -1.0f,  -1.0f,  -1.0f,  -1.0f}, // 4 Rfoot
        {  0.2f,  -1.0f,  -1.0f,  -1.0f}, // 5 Rleg
        {  0.2f,  -1.0f,  -1.0f,  -1.0f}, // 6 Rknee
        {  0.3f,  -1.0f,  -1.0f,  -1.0f}, // 7 Rthigh
        {  0.3f,  -1.0f,  -1.0f,  -1.0f}, // 8 Rhips
        {  0.3f,  -1.0f,  -1.0f,  -1.0f}, // 9 Lhips
        { 0.15f,  0.15f,   0.2f,   0.2f}, // 10 Neck
        { 0.15f,  -1.0f,  -1.0f,  -1.0f}, // 11 Rarm
        {  0.1f,  -1.0f,  -1.0f,  -1.0f}, // 12 Relbow
        { 0.15f,  -1.0f,  -1.0f,  -1.0f}, // 13 Rforearm
        { -1.0f,  -1.0f,  -1.0f,  -1.0f}, // 14 Rhand
        { 0.15f,  -1.0f,  -1.0f,  -1.0f}, // 15 Larm
        {  0.1f,  -1.0f,  -1.0f,  -1.0f}, // 16 Lelbow
        { 0.15f,  -1.0f,  -1.0f,  -1.0f}, // 17 Lforearm
        { -1.0f,  -1.0f,  -1.0f,  -1.0f}, // 18 Lhand
        { 0.15f,  -1.0f,  -1.0f,  -1.0f}, // 19 FaceLB
        { 0.15f,  -1.0f,  -1.0f,  -1.0f}, // 20 FaceRB
        { -1.0f,  -1.0f,  -1.0f,  -1.0f}, // 21 FaceLT
        { -1.0f,  -1.0f,  -1.0f,  -1.0f}, // 22 FaceRT
        {  0.3f,   0.3f,  -1.0f,  -1.0f}, // 23 Rchest
        {  0.3f,   0.3f,  -1.0f,  -1.0f}  // 24 Lchest
      };

      /**
       * @brief This LUT contains the max length between this part and his children
       **/
      static const float LUT_max_length_offset[][4] = 
      {
        { 0.15f,  0.15f,  0.15f,  0.15f}, // 0 Lfoot
        { 0.15f,  0.15f,  0.15f,  0.15f}, // 1 Lleg
        { 0.15f,  0.15f,  0.15f,  0.15f}, // 2 Lknee
        { 0.15f,  0.15f,  0.15f,  0.15f}, // 3 Lthigh
        { 0.15f,  0.15f,  0.15f,  0.15f}, // 4 Rfoot
        { 0.15f,  0.15f,  0.15f,  0.15f}, // 5 Rleg
        { 0.15f,  0.15f,  0.15f,  0.15f}, // 6 Rknee
        { 0.15f,  0.15f,  0.15f,  0.15f}, // 7 Rthigh
        { 0.15f,  0.15f,  0.15f,  0.15f}, // 8 Rhips
        { 0.15f,  0.15f,  0.15f,  0.15f}, // 9 Lhips
        { 0.15f,  0.15f,  0.15f,  0.15f}, // 10 Neck
        { 0.15f,  0.15f,  0.15f,  0.15f}, // 11 Rarm
        { 0.15f,  0.15f,  0.15f,  0.15f}, // 12 Relbow
        { 0.15f,  0.15f,  0.15f,  0.15f}, // 13 Rforearm
        { 0.15f,  0.15f,  0.15f,  0.15f}, // 14 Rhand
        { 0.15f,  0.15f,  0.15f,  0.15f}, // 15 Larm
        { 0.15f,  0.15f,  0.15f,  0.15f}, // 16 Lelbow
        { 0.15f,  0.15f,  0.15f,  0.15f}, // 17 Lforearm
        { 0.15f,  0.15f,  0.15f,  0.15f}, // 18 Lhand
        { 0.15f,  0.15f,  0.15f,  0.15f}, // 19 FaceLB
        { 0.15f,  0.15f,  0.15f,  0.15f}, // 20 FaceRB
        {  0.3f,  0.15f,  0.15f,  0.15f}, // 21 FaceLT
        {  0.3f,  0.15f,  0.15f,  0.15f}, // 22 FaceRT
        { 0.15f,  0.15f,  0.15f,  0.15f}, // 23 Rchest
        { 0.15f,  0.15f,  0.15f,  0.15f} // 24 Lchest
      };

      /**
       * @brief This LUT contains the number of children for each parent
       **/
      static const unsigned int LUT_nr_children[] = 
      {
        0,            // 0 Lfoot
        1,            // 1 Lleg
        1,            // 2 Lknee
        1,            // 3 Lthigh
        0,            // 4 Rfoot
        1,            // 5 Rleg
        1,            // 6 Rknee
        1,            // 7 Rthigh
        1,            // 8 Rhips
        1,            // 9 Lhips
        4,            // 10 Neck
        1,            // 11 Rarm
        1,            // 12 Relbow
        1,            // 13 Rforearm
        0,            // 14 Rhand
        1,            // 15 Larm
        1,            // 16 Lelbow
        1,            // 17 Lforearm
        0,            // 18 Lhand
        1,            // 19 FaceLB
        1,            // 20 FaceRB
        0,            // 21 FaceLT
        0,            // 22 FaceRT
        2,            // 23 Rchest
        2             // 24 Lchest
      };      
    } // End namespace people
  } // End namespace gpu
} // End namespace pcl


// All typedefs to be used in device name space:
// Moved to common because of multiple declarations conflicting
// TODO solve this for Image, also declared as pcl::RGB
namespace pcl
{
  namespace device
  {
    struct prob_histogram
    {
        float probs[pcl::gpu::people::NUM_LABELS];       /** \brief A single float probability for each body part **/
    };

    using LabelProbability = DeviceArray2D<prob_histogram>;

  }
}

/** @TODO get this to work:
std::string part_k[NUM_PARTS] = {"Lfoot","Lleg", "Lknee","Lthigh",
            "Rfoot","Rleg","Rknee","Rthigh",
            "Rhips","Lhips","Neck",
            "Rarm","Relbow","Rforearm","Rhand",
            "Larm","Lelbow","Lforearm","Lhand",
            "FaceLB","FaceRB","FaceLT","FaceRT",
            "Rchest","Lchest"};

inline std::ostream& operator << (std::ostream& os, const part_t& p)
{
  os << part_k[(int) p];
  return (os);
}
 **/
