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#pragma once

#include <pcl/registration/correspondence_rejection.h>
#include <pcl/memory.h>  // for static_pointer_cast
#include <pcl/point_cloud.h>


namespace pcl
{
  namespace registration
  {
    /**
      * @b CorrespondenceRejectorSurfaceNormal implements a simple correspondence
      * rejection method based on the angle between the normals at correspondent points.
      *
      * \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 Aravindhan K Krishnan (original code from libpointmatcher: https://github.com/ethz-asl/libpointmatcher)
      * \ingroup registration
      */
    class PCL_EXPORTS CorrespondenceRejectorSurfaceNormal: public CorrespondenceRejector
    {
      using CorrespondenceRejector::input_correspondences_;
      using CorrespondenceRejector::rejection_name_;
      using CorrespondenceRejector::getClassName;

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

        /** \brief Empty constructor. Sets the threshold to 1.0. */
        CorrespondenceRejectorSurfaceNormal () 
          : threshold_ (1.0)
        {
          rejection_name_ = "CorrespondenceRejectorSurfaceNormal";
        }

        /** \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 thresholding angle between the normals for correspondence rejection. 
          * \param[in] threshold cosine of the thresholding angle between the normals for rejection
          */
        inline void
        setThreshold (double threshold) { threshold_ = threshold; };

        /** \brief Get the thresholding angle between the normals for correspondence rejection. */
        inline double
        getThreshold () const { return threshold_; };

        /** \brief Initialize the data container object for the point type and the normal type. */
        template <typename PointT, typename NormalT> inline void 
        initializeDataContainer ()
        {
          data_container_.reset (new DataContainer<PointT, NormalT>);
        }

        /** \brief Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.  
          * \param[in] input a cloud containing XYZ data
          */
        template <typename PointT>
        PCL_DEPRECATED(1, 12, "pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputCloud is deprecated. Please use setInputSource instead")
        inline void 
        setInputCloud (const typename pcl::PointCloud<PointT>::ConstPtr &input)
        {
          if (!data_container_)
          {
            PCL_ERROR ("[pcl::registration::%s::setInputCloud] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
            return;
          }
          static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (input);
        }

        /** \brief Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.  
          * \param[in] input a cloud containing XYZ data
          */
        template <typename PointT> inline void 
        setInputSource (const typename pcl::PointCloud<PointT>::ConstPtr &input)
        {
          if (!data_container_)
          {
            PCL_ERROR ("[pcl::registration::%s::setInputCloud] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
            return;
          }
          static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (input);
        }

        /** \brief Get the target input point cloud */
        template <typename PointT> inline typename pcl::PointCloud<PointT>::ConstPtr
        getInputSource () const 
        { 
          if (!data_container_)
          {
            PCL_ERROR ("[pcl::registration::%s::getInputSource] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
            return;
          }
          return (static_pointer_cast<DataContainer<PointT> > (data_container_)->getInputSource ());
        }

        /** \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_)
          {
            PCL_ERROR ("[pcl::registration::%s::setInputTarget] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
            return;
          }
          static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target);
        }

        /** \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 );
        }

        /** \brief Get the target input point cloud */
        template <typename PointT> inline typename pcl::PointCloud<PointT>::ConstPtr
        getInputTarget () const 
        { 
          if (!data_container_)
          {
            PCL_ERROR ("[pcl::registration::%s::getInputTarget] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
            return;
          }
          return (static_pointer_cast<DataContainer<PointT> > (data_container_)->getInputTarget ());
        }

        /** \brief Set the normals computed on the input point cloud
          * \param[in] normals the normals computed for the input cloud
          */
        template <typename PointT, typename NormalT> inline void 
        setInputNormals (const typename pcl::PointCloud<NormalT>::ConstPtr &normals)
        {
          if (!data_container_)
          {
            PCL_ERROR ("[pcl::registration::%s::setInputNormals] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
            return;
          }
          static_pointer_cast<DataContainer<PointT, NormalT> > (data_container_)->setInputNormals (normals);
        }

        /** \brief Get the normals computed on the input point cloud */
        template <typename NormalT> inline typename pcl::PointCloud<NormalT>::Ptr
        getInputNormals () const 
        { 
          if (!data_container_)
          {
            PCL_ERROR ("[pcl::registration::%s::getInputNormals] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
            return;
          }
          return (static_pointer_cast<DataContainer<pcl::PointXYZ, NormalT> > (data_container_)->getInputNormals ());
        }

        /** \brief Set the normals computed on the target point cloud
          * \param[in] normals the normals computed for the input cloud
          */
        template <typename PointT, typename NormalT> inline void 
        setTargetNormals (const typename pcl::PointCloud<NormalT>::ConstPtr &normals)
        {
          if (!data_container_)
          {
            PCL_ERROR ("[pcl::registration::%s::setTargetNormals] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
            return;
          }
          static_pointer_cast<DataContainer<PointT, NormalT> > (data_container_)->setTargetNormals (normals);
        }

        /** \brief Get the normals computed on the target point cloud */
        template <typename NormalT> inline typename pcl::PointCloud<NormalT>::Ptr
        getTargetNormals () const 
        { 
          if (!data_container_)
          {
            PCL_ERROR ("[pcl::registration::%s::getTargetNormals] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
            return;
          }
          return (static_pointer_cast<DataContainer<pcl::PointXYZ, NormalT> > (data_container_)->getTargetNormals ());
        }


        /** \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
        { 
          if (!data_container_)
            initializeDataContainer<PointXYZ, Normal> ();
          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
        { 
          if (!data_container_)
            initializeDataContainer<PointXYZ, Normal> ();
          PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
          fromPCLPointCloud2 (*cloud2, *cloud);
          setInputTarget<PointXYZ> (cloud);
        }
        
        /** \brief See if this rejector requires source normals */
        bool
        requiresSourceNormals () const override
        { return (true); }

        /** \brief Blob method for setting the source normals */
        void
        setSourceNormals (pcl::PCLPointCloud2::ConstPtr cloud2) override
        { 
          if (!data_container_)
            initializeDataContainer<PointXYZ, Normal> ();
          PointCloud<Normal>::Ptr cloud (new PointCloud<Normal>);
          fromPCLPointCloud2 (*cloud2, *cloud);
          setInputNormals<PointXYZ, Normal> (cloud);
        }
        
        /** \brief See if this rejector requires target normals*/
        bool
        requiresTargetNormals () const override
        { return (true); }

        /** \brief Method for setting the target normals */
        void
        setTargetNormals (pcl::PCLPointCloud2::ConstPtr cloud2) override
        { 
          if (!data_container_)
            initializeDataContainer<PointXYZ, Normal> ();
          PointCloud<Normal>::Ptr cloud (new PointCloud<Normal>);
          fromPCLPointCloud2 (*cloud2, *cloud);
          setTargetNormals<PointXYZ, Normal> (cloud);
        }

      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 median distance threshold between two correspondent points in source <-> target. */
        double threshold_;

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

#include <pcl/registration/impl/correspondence_rejection_surface_normal.hpp>
