/*
 * 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
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 *  are met:
 *
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 *     notice, this list of conditions and the following disclaimer.
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 *     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
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 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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#include <pcl/common/time.h>
#include <pcl/console/parse.h>
#include <pcl/filters/uniform_sampling.h>
#include <pcl/io/openni_camera/openni_driver.h>
#include <pcl/io/openni_grabber.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <mutex>
#include <thread>

using namespace std::chrono_literals;

// clang-format off
#define FPS_CALC(_WHAT_)                                                               \
  do {                                                                                 \
    static unsigned count = 0;                                                         \
    static double last = pcl::getTime();                                               \
    double now = pcl::getTime();                                                       \
    ++count;                                                                           \
    if (now - last >= 1.0) {                                                           \
      std::cout << "Average framerate(" << _WHAT_ << "): "                             \
                << double(count) / double(now - last) << " Hz" << std::endl;           \
      count = 0;                                                                       \
      last = now;                                                                      \
    }                                                                                  \
  } while (false)
// clang-format on

class OpenNIUniformSampling {
public:
  using Cloud = pcl::PointCloud<pcl::PointXYZRGBA>;
  using CloudPtr = Cloud::Ptr;
  using CloudConstPtr = Cloud::ConstPtr;

  OpenNIUniformSampling(const std::string& device_id = "", float leaf_size = 0.05)
  : viewer("PCL OpenNI PassThrough Viewer"), device_id_(device_id)
  {
    pass_.setRadiusSearch(leaf_size);
  }

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

    cloud_.reset(new Cloud);
    keypoints_.reset(new pcl::PointCloud<pcl::PointXYZ>);
    // Computation goes here
    pass_.setInputCloud(cloud);
    pcl::PointCloud<pcl::PointXYZRGBA> sampled;
    pass_.filter(sampled);
    *cloud_ = *cloud;

    pcl::copyPointCloud(sampled, *keypoints_);
  }

  void
  viz_cb(pcl::visualization::PCLVisualizer& viz)
  {
    std::lock_guard<std::mutex> lock(mtx_);
    if (!keypoints_ && !cloud_) {
      std::this_thread::sleep_for(1s);
      return;
    }

    FPS_CALC("visualization");
    viz.removePointCloud("raw");
    pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBA> color_handler(
        cloud_);
    viz.addPointCloud<pcl::PointXYZRGBA>(cloud_, color_handler, "raw");

    if (!viz.updatePointCloud<pcl::PointXYZ>(keypoints_, "keypoints")) {
      viz.addPointCloud<pcl::PointXYZ>(keypoints_, "keypoints");
      viz.setPointCloudRenderingProperties(
          pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5.0, "keypoints");
      viz.resetCameraViewpoint("keypoints");
    }
  }

  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(1s);
    }

    interface.stop();
  }

  pcl::UniformSampling<pcl::PointXYZRGBA> pass_;
  pcl::visualization::CloudViewer viewer;
  std::string device_id_;
  std::mutex mtx_;
  CloudPtr cloud_;
  pcl::PointCloud<pcl::PointXYZ>::Ptr keypoints_;
};

void
usage(char** argv)
{
  std::cout << "usage: " << argv[0] << " [options]\n\n"
            << "where options are:\n"
            << "    -device_id X: specify the device id (default: \"#1\").\n"
            << "    -leaf X: set the UniformSampling leaf size (default: 0.01)\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 = "";
  float leaf_res = 0.05f;

  if (pcl::console::parse_argument(argc, argv, "-device_id", device_id) == -1 &&
      argc > 1 && argv[1][0] != '-')
    device_id = argv[1];
  pcl::console::parse_argument(argc, argv, "-leaf", leaf_res);
  PCL_INFO("Using %f as a leaf size for UniformSampling.\n", leaf_res);
  /////////////////////////////////////////////////////////////////////

  OpenNIUniformSampling v(device_id, leaf_res);
  v.run();

  return 0;
}
