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#pragma once

#include <pcl/registration/correspondence_rejection.h>
#include <pcl/conversions.h> // for fromPCLPointCloud2
#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::getClassName;
  using CorrespondenceRejector::input_correspondences_;
  using CorrespondenceRejector::rejection_name_;

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

  /** \brief Empty constructor. Sets the threshold to 1.0. */
  CorrespondenceRejectorSurfaceNormal()
  {
    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>
  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_{1.0};

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