/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, 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,
 *  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.
 *
 * $Id$
 *
 */
#ifndef PCL_PCL_HISTOGRAM_VISUALIZER_H_
#define PCL_PCL_HISTOGRAM_VISUALIZER_H_

#include <pcl/visualization/interactor_style.h>
#include <pcl/visualization/common/common.h>
#include <pcl/visualization/common/ren_win_interact_map.h>

class vtkRenderWindowInteractor;

namespace pcl
{
  namespace visualization
  {
    /** \brief PCL histogram visualizer main class. 
      * \author Radu Bogdan Rusu
      * \ingroup visualization
      */
    class PCL_EXPORTS PCLHistogramVisualizer
    {
      public:
        /** \brief PCL histogram visualizer constructor. */
        PCLHistogramVisualizer ();

        virtual ~PCLHistogramVisualizer () {}
        /** \brief Spin once method. Calls the interactor and updates the screen once. 
          *  \param[in] time - How long (in ms) should the visualization loop be allowed to run.
          */
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4))
        void 
        spinOnce (int time = 1, bool force_redraw = false);
#else
        void 
        spinOnce (int time = 1);
#endif
        /** \brief Spin method. Calls the interactor and runs an internal loop. */
        void 
        spin ();
        
        /** \brief Set the viewport's background color.
          * \param[in] r the red component of the RGB color
          * \param[in] g the green component of the RGB color
          * \param[in] b the blue component of the RGB color
          */
        void 
        setBackgroundColor (const double &r, const double &g, const double &b);

        /** \brief Add a histogram feature to screen as a separate window, from a cloud containing a single histogram.
          * \param[in] cloud the PointCloud dataset containing the histogram
          * \param[in] hsize the length of the histogram
          * \param[in] id the point cloud object id (default: cloud)
          * \param[in] win_width the width of the window
          * \param[in] win_height the height of the window
          */
        template <typename PointT> bool 
        addFeatureHistogram (const pcl::PointCloud<PointT> &cloud, 
                             int hsize, 
                             const std::string &id = "cloud", int win_width = 640, int win_height = 200);

        /** \brief Add a histogram feature to screen as a separate window from a cloud containing a single histogram.
          * \param[in] cloud the PointCloud dataset containing the histogram
          * \param[in] field_name the field name containing the histogram
          * \param[in] id the point cloud object id (default: cloud)
          * \param[in] win_width the width of the window
          * \param[in] win_height the height of the window
          */
        bool 
        addFeatureHistogram (const pcl::PCLPointCloud2 &cloud,
                             const std::string &field_name, 
                             const std::string &id = "cloud", int win_width = 640, int win_height = 200);

        /** \brief Add a histogram feature to screen as a separate window.
          * \param[in] cloud the PointCloud dataset containing the histogram
          * \param[in] field_name the field name containing the histogram
          * \param[in] index the point index to extract the histogram from
          * \param[in] id the point cloud object id (default: cloud)
          * \param[in] win_width the width of the window
          * \param[in] win_height the height of the window 
          */
        template <typename PointT> bool 
        addFeatureHistogram (const pcl::PointCloud<PointT> &cloud, 
                             const std::string &field_name, 
                             const int index,
                             const std::string &id = "cloud", int win_width = 640, int win_height = 200);

        /** \brief Add a histogram feature to screen as a separate window.
          * \param[in] cloud the PointCloud dataset containing the histogram
          * \param[in] field_name the field name containing the histogram
          * \param[in] index the point index to extract the histogram from
          * \param[in] id the point cloud object id (default: cloud)
          * \param[in] win_width the width of the window
          * \param[in] win_height the height of the window
          */
        bool 
        addFeatureHistogram (const pcl::PCLPointCloud2 &cloud,
                             const std::string &field_name, 
                             const int index,
                             const std::string &id = "cloud", int win_width = 640, int win_height = 200);
        
        /** \brief Update a histogram feature that is already on screen, with a cloud containing a single histogram.
          * \param[in] cloud the PointCloud dataset containing the histogram
          * \param[in] hsize the length of the histogram
          * \param[in] id the point cloud object id (default: cloud)
          */
        template <typename PointT> bool 
        updateFeatureHistogram (const pcl::PointCloud<PointT> &cloud, int hsize, const std::string &id = "cloud");
        
                             
        /** \brief Update a histogram feature that is already on screen, with a cloud containing a single histogram.
          * \param[in] cloud the PointCloud dataset containing the histogram
          * \param[in] field_name the field name containing the histogram
          * \param[in] id the point cloud object id (default: cloud)
          */
        bool 
        updateFeatureHistogram (const pcl::PCLPointCloud2 &cloud,
                                const std::string &field_name, 
                                const std::string &id = "cloud");
                             
        
        /** \brief Update a histogram feature that is already on screen, with a cloud containing a single histogram.
          * \param[in] cloud the PointCloud dataset containing the histogram
          * \param[in] field_name the field name containing the histogram
          * \param[in] index the point index to extract the histogram from
          * \param[in] id the point cloud object id (default: cloud)
          */
        template <typename PointT> bool 
        updateFeatureHistogram (const pcl::PointCloud<PointT> &cloud, const std::string &field_name,
        			                   const int index, const std::string &id = "cloud");
        
                             
        /** \brief Update a histogram feature that is already on screen, with a cloud containing a single histogram.
          * \param[in] cloud the PointCloud dataset containing the histogram
          * \param[in] field_name the field name containing the histogram
          * \param[in] index the point index to extract the histogram from
          * \param[in] id the point cloud object id (default: cloud)
          */
        bool 
        updateFeatureHistogram (const pcl::PCLPointCloud2 &cloud,
                                const std::string &field_name, const int index,
                                const std::string &id = "cloud");         


         /** \brief Set the Y range to minp-maxp for all histograms.
           * \param[in] minp the minimum Y range
           * \param[in] maxp the maximum Y range
           */
        void 
        setGlobalYRange (float minp, float maxp);

        /** \brief Update all window positions on screen so that they fit. */
        void 
        updateWindowPositions ();
#if ((VTK_MAJOR_VERSION) == 5 && (VTK_MINOR_VERSION <= 4))
        /** \brief Returns true when the user tried to close the window */
        bool 
        wasStopped ();
        
        /** \brief Set the stopped flag back to false */
        void 
        resetStoppedFlag ();
#endif
      protected:

        /** \brief Create a 2D actor from the given vtkDoubleArray histogram and add it to the screen.
          * \param[in] xy_array the input vtkDoubleArray holding the histogram data
          * \param[out] renwinint the resultant render window interactor holding the rendered object
          * \param[in] id the point cloud object id
          * \param[in] win_width the width of the window
          * \param[in] win_height the height of the window
          */
        void
        createActor (const vtkSmartPointer<vtkDoubleArray> &xy_array, 
                     RenWinInteract &renwinint,
                     const std::string &id, const int win_width, const int win_height);
        
        /** \brief Remove the current 2d actor and create a new 2D actor from the given vtkDoubleArray histogram and add it to the screen.
          * \param[in] xy_array the input vtkDoubleArray holding the histogram data
          * \param[out] renwinint the resultant render window interactor holding the rendered object
          * \param[in] id the point cloud object id
          */             
        void
        reCreateActor (const vtkSmartPointer<vtkDoubleArray> &xy_array, 
                       RenWinInteract* renwinupd, const int hsize);

      private:
        /** \brief A map of all windows on screen (with their renderers and interactors). */
        RenWinInteractMap wins_;

        struct ExitMainLoopTimerCallback : public vtkCommand
        {
          static ExitMainLoopTimerCallback* New ()
          {
            return (new ExitMainLoopTimerCallback);
          }
          virtual void 
          Execute (vtkObject*, unsigned long event_id, void* call_data);

          int right_timer_id;
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4))
          PCLVisualizerInteractor *interact;
#else
          vtkRenderWindowInteractor *interact;
#endif
        };
        
        struct ExitCallback : public vtkCommand
        {
          ExitCallback () : his () {}

          static ExitCallback* New ()
          {
            return (new ExitCallback);
          }

          virtual void 
          Execute (vtkObject*, unsigned long event_id, void*);

          PCLHistogramVisualizer *his;
        };

        /** \brief Callback object enabling us to leave the main loop, when a timer fires. */
        vtkSmartPointer<ExitMainLoopTimerCallback> exit_main_loop_timer_callback_;
        vtkSmartPointer<ExitCallback> exit_callback_;
        /** \brief Set to true when the histogram visualizer is ready to be terminated. */
        bool stopped_;
    };
  }
}

#include <pcl/visualization/impl/histogram_visualizer.hpp>

#endif
