/*
 * Software License Agreement (BSD License)
 *
 * Point Cloud Library (PCL) - www.pointclouds.org
 * Copyright (c) 2009-2012, Willow Garage, Inc.
 * Copyright (c) 2012-, Open Perception, Inc.
 *
 * All rights reserved.
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 *
 *  * Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
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 *    copyright notice, this list of conditions and the following
 *    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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 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 * $Id$
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#pragma once

#include <pcl/memory.h>
#include <pcl/pcl_exports.h>
#include <pcl/pcl_macros.h>
#include <pcl/common/time.h>
#include <pcl/apps/in_hand_scanner/common_types.h>

#include <QGLWidget>

#include <mutex>
#include <iomanip>
#include <string>
#include <unordered_map>

namespace pcl
{
  namespace ihs
  {
    namespace detail
    {
      /** \brief Mesh format more efficient for visualization than the half-edge data structure.
        * \see http://en.wikipedia.org/wiki/Polygon_mesh#Face-vertex_meshes
        * \note Only triangles are currently supported.
        */
      class FaceVertexMesh
      {
        public:

          class Triangle
          {
            public:

              Triangle () : first (0), second (0), third (0) {}
              Triangle (const unsigned int first, const unsigned int second, const unsigned int third)
                : first (first), second (second), third (third)
              {
              }

              unsigned int first;
              unsigned int second;
              unsigned int third;
          };

          /** \brief Constructor */
          FaceVertexMesh ();

          /** \brief Constructor. Converts the input mesh into a face vertex mesh. */
          FaceVertexMesh (const Mesh& mesh, const Eigen::Isometry3d& T);

          using PointIHS = pcl::ihs::PointIHS;
          using CloudIHS = pcl::ihs::CloudIHS;
          using CloudIHSPtr = pcl::ihs::CloudIHSPtr;
          using CloudIHSConstPtr = pcl::ihs::CloudIHSConstPtr;

          CloudIHS               vertices;
          std::vector <Triangle> triangles;
          Eigen::Isometry3d      transformation;

        public:
          PCL_MAKE_ALIGNED_OPERATOR_NEW
      };
    } // End namespace detail

    /** \brief Viewer for the in-hand scanner based on Qt and OpenGL.
      * \note Currently you have to derive from this class to use it. Implement the paintEvent: Call the paint event of this class and declare a QPainter.
      */
    class PCL_EXPORTS OpenGLViewer : public QGLWidget
    {
      Q_OBJECT

      public:

        using PointXYZRGBNormal = pcl::PointXYZRGBNormal;
        using CloudXYZRGBNormal = pcl::PointCloud<PointXYZRGBNormal>;
        using CloudXYZRGBNormalPtr = CloudXYZRGBNormal::Ptr;
        using CloudXYZRGBNormalConstPtr = CloudXYZRGBNormal::ConstPtr;

        using Mesh = pcl::ihs::Mesh;
        using MeshPtr = pcl::ihs::MeshPtr;
        using MeshConstPtr = pcl::ihs::MeshConstPtr;

        /** \brief How to draw the mesh. */
        enum MeshRepresentation
        {
          MR_POINTS, /**< Draw the points. */
          MR_EDGES,  /**< Wireframe represen of the mesh. */
          MR_FACES   /**< Draw the faces of the mesh without edges. */
        };

        /** \brief How to color the shapes. */
        enum Coloring
        {
          COL_RGB,       /**< Coloring according to the rgb values. */
          COL_ONE_COLOR, /**< Use one color for all points. */
          COL_VISCONF    /**< Coloring according to the visibility confidence. */
        };

        /** \brief Coefficients for the wireframe box. */
        class BoxCoefficients
        {
          public:

            BoxCoefficients ()
              : x_min (0), x_max (0),
                y_min (0), y_max (0),
                z_min (0), z_max (0),
                transformation (Eigen::Isometry3d::Identity ())
            {
            }

            BoxCoefficients (const float x_min, const float x_max,
                             const float y_min, const float y_max,
                             const float z_min, const float z_max,
                             const Eigen::Isometry3d& T)
              : x_min (x_min), x_max (x_max),
                y_min (y_min), y_max (y_max),
                z_min (z_min), z_max (z_max),
                transformation (T)
            {
            }

            float x_min; float x_max;
            float y_min; float y_max;
            float z_min; float z_max;
            Eigen::Isometry3d transformation;

          public:
            PCL_MAKE_ALIGNED_OPERATOR_NEW
        };

        /** \brief Constructor. */
        explicit OpenGLViewer (QWidget* parent=nullptr);

        /** \brief Destructor. */
        ~OpenGLViewer ();

        /** \brief Add a mesh to be drawn.
          * \param[in] mesh The input mesh.
          * \param[in] id Unique identifier for the mesh. The internal mesh is replaced by the input mesh if the id already exists.
          * \param[in] T Transformation applied to the mesh. Defaults to an identity transformation.
          * \return true if success.
          * \note Converts the mesh to the internal representation better suited for visualization. Therefore this method takes some time.
          */
        bool
        addMesh (const MeshConstPtr& mesh, const std::string& id, const Eigen::Isometry3d& T = Eigen::Isometry3d::Identity ());

        /** \brief Convert an organized cloud to a mesh and draw it.
          * \param[in] cloud Organized input cloud.
          * \param[in] id Unique identifier for the mesh. The internal mesh is replaced by the converted input mesh if the id already exists.
          * \param[in] T Transformation applied to the mesh. Defaults to an identity transformation.
          * \return true if success.
          * \note This method takes some time for the conversion).
          */
        bool
        addMesh (const CloudXYZRGBNormalConstPtr& cloud, const std::string& id, const Eigen::Isometry3d& T = Eigen::Isometry3d::Identity ());

        /** \brief Remove the mesh with the given id.
          * \param[in] id Identifier of the mesh (results in a failure if the id does not exist).
          * \return true if success.
          */
        bool
        removeMesh (const std::string& id);

        /** \brief Remove all meshes that are currently drawn. */
        void
        removeAllMeshes ();

        /** \brief Set the coefficients for the box. */
        void
        setBoxCoefficients (const BoxCoefficients& coeffs);

        /** \brief Enable / disable drawing the box. */
        void
        setDrawBox (const bool enabled);

        /** \brief Check if the box is drawn. */
        bool
        getDrawBox () const;

        /** \brief Set the point around which the camera rotates during mouse navigation. */
        void
        setPivot (const Eigen::Vector3d& pivot);

        /** \brief Searches the given id in the drawn meshes and calculates the pivot as the centroid of the found geometry.
          * \note Returns immediately and computes the pivot in another thread.
          */
        void
        setPivot (const std::string& id);

        /** \brief Stop the visualization timer. */
        void
        stopTimer ();

        /** \brief The visibility confidence is normalized with this value (must be greater than 1). */
        void
        setVisibilityConfidenceNormalization (const float vis_conf_norm);

        /** \see http://doc.qt.digia.com/qt/qwidget.html#minimumSizeHint-prop */
        QSize
        minimumSizeHint () const override;

        /** \see http://doc.qt.digia.com/qt/qwidget.html#sizeHint-prop */
        QSize
        sizeHint () const override;

        /** \brief Set the scaling factor to convert from meters to the unit of the drawn files. */
        void
        setScalingFactor (const double scale);

      public Q_SLOTS:

        /** \brief Requests the scene to be re-drawn (called periodically from a timer). */
        void
        timerCallback ();

        /** \brief Reset the virtual camera position and orientation. */
        void
        resetCamera ();

        /** \brief Toggle the mesh representation. */
        void
        toggleMeshRepresentation ();

        /** \brief Set the mesh representation. */
        void
        setMeshRepresentation (const MeshRepresentation& representation);

        /** \brief Toggle the coloring mode. */
        void
        toggleColoring ();

        /** \brief Set the coloring mode. */
        void
        setColoring (const Coloring& coloring);

      protected:

        /** \brief Please have a look at the documentation of calcFPS. */
        class FPS
        {
          public:

            FPS () : fps_ (0.) {}

            inline double& value ()       {return (fps_);}
            inline double  value () const {return (fps_);}

            inline std::string
            str () const
            {
              std::stringstream ss;
              ss << std::setprecision (1) << std::fixed << fps_;
              return (ss.str ());
            }

          protected:

            ~FPS () {}

          private:

            double fps_;
        };

        /** Measures the performance of the current thread (selected by passing the corresponding 'fps' helper object). The resulting value is stored in the fps object. */
        template <class FPS> void
        calcFPS (FPS& fps) const
        {
          static pcl::StopWatch sw;
          static unsigned int count = 0;

          ++count;
          if (sw.getTimeSeconds () >= .2)
          {
            fps.value () = static_cast <double> (count) / sw.getTimeSeconds ();
            count = 0;
            sw.reset ();
          }
        }

        /** \see http://doc.qt.digia.com/qt/qwidget.html#paintEvent
          * \see http://doc.qt.digia.com/qt/opengl-overpainting.html
          */
        void
        paintEvent (QPaintEvent* event) override;

      private:

        using Color = Eigen::Matrix <unsigned char, 3, 1             >;
        using Colors = Eigen::Matrix <unsigned char, 3, Eigen::Dynamic>;
        using Colormap = Eigen::Matrix <unsigned char, 3, 256           >;

        using CloudXYZRGBNormalMap = std::unordered_map <std::string, CloudXYZRGBNormalPtr>;

        using PointIHS = pcl::ihs::PointIHS;
        using CloudIHS = pcl::ihs::CloudIHS;
        using CloudIHSPtr = pcl::ihs::CloudIHSPtr;
        using CloudIHSConstPtr = pcl::ihs::CloudIHSConstPtr;

        using FaceVertexMesh = pcl::ihs::detail::FaceVertexMesh;
        using FaceVertexMeshPtr = std::shared_ptr<FaceVertexMesh>;
        using FaceVertexMeshConstPtr = std::shared_ptr<const FaceVertexMesh>;
        using FaceVertexMeshMap = std::unordered_map <std::string, FaceVertexMeshPtr>;

        /** \brief Check if the mesh with the given id is added.
          * \note Must lock the mutex before calling this method.
          */
        bool
        getMeshIsAdded (const std::string& id);

        /** \brief Calculate the pivot for the stored id. */
        void
        calcPivot ();

        /** \brief Draw all meshes.
          * \note Only triangle meshes are currently supported.
          */
        void
        drawMeshes ();

        /** \brief Draw a wireframe box. */
        void
        drawBox ();

        /** \see http://doc.qt.digia.com/qt/qglwidget.html#initializeGL */
        void
        initializeGL () override;

        /** \see http://www.opengl.org/sdk/docs/man/xhtml/glViewport.xml */
        void
        setupViewport (const int w, const int h);

        /** \see http://doc.qt.digia.com/qt/qglwidget.html#resizeGL */
        void
        resizeGL (int w, int h) override;

        /** \see http://doc.qt.digia.com/qt/qwidget.html#mousePressEvent */
        void
        mousePressEvent (QMouseEvent* event) override;

        /** \see http://doc.qt.digia.com/qt/qwidget.html#mouseMoveEvent */
        void
        mouseMoveEvent (QMouseEvent* event) override;

        /** \see http://doc.qt.digia.com/qt/qwidget.html#wheelEvent */
        void
        wheelEvent (QWheelEvent* event) override;

        ////////////////////////////////////////////////////////////////////////
        // Members
        ////////////////////////////////////////////////////////////////////////

        /** \brief Synchronization. */
        std::mutex mutex_vis_;

        /** \brief Visualization timer. */
        std::shared_ptr<QTimer> timer_vis_;

        /** \brief Colormap. */
        Colormap colormap_;

        /** \brief The visibility confidence is normalized with this value. */
        float vis_conf_norm_;

        /** \brief Meshes stored for visualization. */
        FaceVertexMeshMap drawn_meshes_;

        /** \brief How to draw the mesh. */
        MeshRepresentation mesh_representation_;

        /** \brief How to color the shapes. */
        Coloring coloring_;

        /** \brief A box is drawn if this value is true. */
        bool draw_box_;

        /** \brief Coefficients of the drawn box. */
        BoxCoefficients box_coefficients_;

        /** \brief Scaling factor to convert from meters to the unit of the drawn files. */
        double scaling_factor_;

        /** \brief Rotation of the camera. */
        Eigen::Quaterniond R_cam_;

        /** \brief Translation of the camera. */
        Eigen::Vector3d t_cam_;

        /** \brief Center of rotation during mouse navigation. */
        Eigen::Vector3d cam_pivot_;

        /** \brief Compute the pivot for the mesh with the given id. */
        std::string cam_pivot_id_;

        /** \brief Set to true right after the mouse got pressed and false if the mouse got moved. */
        bool mouse_pressed_begin_;

        /** \brief Mouse x-position of the previous mouse move event. */
        int x_prev_;

        /** \brief Mouse y-position of the previous mouse move event. */
        int y_prev_;

      public:
        PCL_MAKE_ALIGNED_OPERATOR_NEW
    };
  } // End namespace ihs
} // End namespace pcl

// http://doc.qt.digia.com/qt/qmetatype.html#Q_DECLARE_METATYPE
Q_DECLARE_METATYPE (pcl::ihs::OpenGLViewer::MeshRepresentation)
Q_DECLARE_METATYPE (pcl::ihs::OpenGLViewer::Coloring)
