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#pragma once

#include <pcl/features/boundary.h>
#include <pcl/common/point_tests.h> // for pcl::isFinite

#include <cfloat>


//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointNT, typename PointOutT> bool
pcl::BoundaryEstimation<PointInT, PointNT, PointOutT>::isBoundaryPoint (
      const pcl::PointCloud<PointInT> &cloud, int q_idx, 
      const pcl::Indices &indices, 
      const Eigen::Vector4f &u, const Eigen::Vector4f &v, 
      const float angle_threshold)
{
  return (isBoundaryPoint (cloud, cloud[q_idx], indices, u, v, angle_threshold));
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointNT, typename PointOutT> bool
pcl::BoundaryEstimation<PointInT, PointNT, PointOutT>::isBoundaryPoint (
      const pcl::PointCloud<PointInT> &cloud, const PointInT &q_point, 
      const pcl::Indices &indices, 
      const Eigen::Vector4f &u, const Eigen::Vector4f &v, 
      const float angle_threshold)
{
  if (indices.size () < 3)
    return (false);

  if (!std::isfinite (q_point.x) || !std::isfinite (q_point.y) || !std::isfinite (q_point.z))
    return (false);

  // Compute the angles between each neighboring point and the query point itself
  std::vector<float> angles (indices.size ());
  float max_dif = 0, dif;
  int cp = 0;

  for (const auto &index : indices)
  {
    if (!std::isfinite (cloud[index].x) || 
        !std::isfinite (cloud[index].y) || 
        !std::isfinite (cloud[index].z))
      continue;

    Eigen::Vector4f delta = cloud[index].getVector4fMap () - q_point.getVector4fMap ();
    if (delta == Eigen::Vector4f::Zero())
      continue;

    angles[cp++] = std::atan2 (v.dot (delta), u.dot (delta)); // the angles are fine between -PI and PI too
  }
  if (cp == 0)
    return (false);

  angles.resize (cp);
  std::sort (angles.begin (), angles.end ());

  // Compute the maximal angle difference between two consecutive angles
  for (std::size_t i = 0; i < angles.size () - 1; ++i)
  {
    dif = angles[i + 1] - angles[i];
    if (max_dif < dif)
      max_dif = dif;
  }
  // Get the angle difference between the last and the first
  dif = 2 * static_cast<float> (M_PI) - angles[angles.size () - 1] + angles[0];
  if (max_dif < dif)
    max_dif = dif;

  // Check results
  return (max_dif > angle_threshold);
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointNT, typename PointOutT> void
pcl::BoundaryEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut &output)
{
  // Allocate enough space to hold the results
  // \note This resize is irrelevant for a radiusSearch ().
  pcl::Indices nn_indices (k_);
  std::vector<float> nn_dists (k_);

  Eigen::Vector4f u = Eigen::Vector4f::Zero (), v = Eigen::Vector4f::Zero ();

  output.is_dense = true;
  // Save a few cycles by not checking every point for NaN/Inf values if the cloud is set to dense
  if (input_->is_dense)
  {
    // Iterating over the entire index vector
    for (std::size_t idx = 0; idx < indices_->size (); ++idx)
    {
      if (this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)
      {
        output[idx].boundary_point = std::numeric_limits<std::uint8_t>::quiet_NaN ();
        output.is_dense = false;
        continue;
      }

      // Obtain a coordinate system on the least-squares plane
      //v = (*normals_)[(*indices_)[idx]].getNormalVector4fMap ().unitOrthogonal ();
      //u = (*normals_)[(*indices_)[idx]].getNormalVector4fMap ().cross3 (v);
      getCoordinateSystemOnPlane ((*normals_)[(*indices_)[idx]], u, v);

      // Estimate whether the point is lying on a boundary surface or not
      output[idx].boundary_point = isBoundaryPoint (*surface_, (*input_)[(*indices_)[idx]], nn_indices, u, v, angle_threshold_);
    }
  }
  else
  {
    // Iterating over the entire index vector
    for (std::size_t idx = 0; idx < indices_->size (); ++idx)
    {
      if (!isFinite ((*input_)[(*indices_)[idx]]) ||
          this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)
      {
        output[idx].boundary_point = std::numeric_limits<std::uint8_t>::quiet_NaN ();
        output.is_dense = false;
        continue;
      }

      // Obtain a coordinate system on the least-squares plane
      //v = (*normals_)[(*indices_)[idx]].getNormalVector4fMap ().unitOrthogonal ();
      //u = (*normals_)[(*indices_)[idx]].getNormalVector4fMap ().cross3 (v);
      getCoordinateSystemOnPlane ((*normals_)[(*indices_)[idx]], u, v);

      // Estimate whether the point is lying on a boundary surface or not
      output[idx].boundary_point = isBoundaryPoint (*surface_, (*input_)[(*indices_)[idx]], nn_indices, u, v, angle_threshold_);
    }
  }
}

#define PCL_INSTANTIATE_BoundaryEstimation(PointInT,PointNT,PointOutT) template class PCL_EXPORTS pcl::BoundaryEstimation<PointInT, PointNT, PointOutT>;

