/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Willow Garage, 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 Willow Garage, Inc. 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,
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 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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 *  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.
 *
 */

#include <pcl/common/time.h>
#include <pcl/console/parse.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/io/openni_camera/openni_driver.h>
#include <pcl/io/openni_grabber.h>
#include <pcl/surface/concave_hull.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <mutex>
#include <thread>

using namespace pcl;
using namespace pcl::visualization;
using namespace std::chrono_literals;

// clang-format off
#define FPS_CALC(_WHAT_)                                                               \
  do {                                                                                 \
    static unsigned count = 0;                                                         \
    static double last = pcl::getTime();                                               \
    if (++count == 100) {                                                              \
      double now = pcl::getTime();                                                     \
      std::cout << "Average framerate(" << _WHAT_ << "): "                             \
                << double(count) / double(now - last) << " Hz" << std::endl;           \
      count = 0;                                                                       \
      last = now;                                                                      \
    }                                                                                  \
  } while (false)
// clang-format on

template <typename PointType>
class OpenNI3DConcaveHull {
public:
  using Cloud = pcl::PointCloud<PointType>;
  using CloudPtr = typename Cloud::Ptr;
  using CloudConstPtr = typename Cloud::ConstPtr;

  OpenNI3DConcaveHull(const std::string& device_id = "")
  : viewer("PCL OpenNI 3D Concave Hull Viewer"), device_id_(device_id)
  {
    grid.setFilterFieldName("z");
    grid.setFilterLimits(0.0, 1.0);
    grid.setLeafSize(0.01f, 0.01f, 0.01f);
  }

  void
  cloud_cb(const CloudConstPtr& cloud)
  {
    std::lock_guard<std::mutex> lock(mtx_);
    FPS_CALC("computation");

    cloud_pass_.reset(new Cloud);
    // Computation goes here
    grid.setInputCloud(cloud);
    grid.filter(*cloud_pass_);

    // Estimate 3D convex hull
    pcl::ConcaveHull<PointType> hr;
    hr.setAlpha(0.1);
    hr.setInputCloud(cloud_pass_);
    cloud_hull_.reset(new Cloud);
    hr.reconstruct(*cloud_hull_, vertices_);

    cloud_ = cloud;
    new_cloud_ = true;
  }

  void
  viz_cb(pcl::visualization::PCLVisualizer& viz)
  {
    if (!cloud_ || !new_cloud_) {
      std::this_thread::sleep_for(1ms);
      return;
    }

    {
      std::lock_guard<std::mutex> lock(mtx_);
      FPS_CALC("visualization");
      CloudPtr temp_cloud;
      temp_cloud.swap(cloud_pass_);

      if (!viz.updatePointCloud(temp_cloud, "OpenNICloud")) {
        viz.addPointCloud(temp_cloud, "OpenNICloud");
        viz.resetCameraViewpoint("OpenNICloud");
      }
      // Render the data
      if (new_cloud_ && cloud_hull_) {
        viz.removePointCloud("hull");
        viz.addPolygonMesh<PointType>(cloud_hull_, vertices_, "hull");
      }
      new_cloud_ = false;
    }
  }

  void
  run()
  {
    pcl::OpenNIGrabber interface(device_id_);

    std::function<void(const CloudConstPtr&)> f = [this](const CloudConstPtr& cloud) {
      cloud_cb(cloud);
    };
    boost::signals2::connection c = interface.registerCallback(f);

    viewer.runOnVisualizationThread(
        [this](pcl::visualization::PCLVisualizer& viz) { viz_cb(viz); }, "viz_cb");

    interface.start();

    while (!viewer.wasStopped()) {
      std::this_thread::sleep_for(1ms);
    }

    interface.stop();
  }

  pcl::VoxelGrid<PointType> grid;
  pcl::visualization::CloudViewer viewer;

  std::string device_id_;
  std::mutex mtx_;
  // Data
  CloudConstPtr cloud_;
  CloudPtr cloud_pass_, cloud_hull_;
  std::vector<pcl::Vertices> vertices_;
  bool new_cloud_;
};

void
usage(char** argv)
{
  std::cout << "usage: " << argv[0] << " [-device_id X (default: \"#1\")]\n\n";

  openni_wrapper::OpenNIDriver& driver = openni_wrapper::OpenNIDriver::getInstance();
  if (driver.getNumberDevices() > 0) {
    for (unsigned deviceIdx = 0; deviceIdx < driver.getNumberDevices(); ++deviceIdx) {
      // clang-format off
      std::cout << "Device: " << deviceIdx + 1 
                << ", vendor: " << driver.getVendorName (deviceIdx) 
                << ", product: " << driver.getProductName (deviceIdx)
                << ", connected: " << driver.getBus (deviceIdx) << " @ " << driver.getAddress (deviceIdx) << ", serial number: \'" << driver.getSerialNumber (deviceIdx) << "\'" 
                << std::endl;
      // clang-format on
    }

    std::cout << "\ndevice_id may be:" << std::endl
              << "    #1, #2, ... for the first second etc device in the list or"
              << std::endl

              << "    bus@address for the device connected to a specific "
                 "usb-bus/address combination (works only in Linux) or"

              << "    <serial-number> (only in Linux and for devices which provide "
                 "serial numbers)";
  }
  else
    std::cout << "No devices connected." << std::endl;
}

int
main(int argc, char** argv)
{
  /////////////////////////////////////////////////////////////////////
  if (pcl::console::find_argument(argc, argv, "-h") != -1 ||
      pcl::console::find_argument(argc, argv, "--help") != -1) {
    usage(argv);
    return 1;
  }

  std::string device_id = "";
  if (pcl::console::parse_argument(argc, argv, "-device_id", device_id) == -1 &&
      argc > 1 && argv[1][0] != '-')
    device_id = argv[1];
  /////////////////////////////////////////////////////////////////////

  pcl::OpenNIGrabber grabber(device_id);
  if (grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgba>()) {
    PCL_INFO("PointXYZRGBA mode enabled.\n");
    OpenNI3DConcaveHull<pcl::PointXYZRGBA> v(device_id);
    v.run();
  }
  else {
    PCL_INFO("PointXYZ mode enabled.\n");
    OpenNI3DConcaveHull<pcl::PointXYZ> v(device_id);
    v.run();
  }
  return 0;
}
