// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------

#include <Eigen/Dense>
#include <iostream>
#include <memory>

#include "open3d/Open3D.h"

void PrintPointCloud(const open3d::geometry::PointCloud &pointcloud) {
    using namespace open3d;

    bool pointcloud_has_normal = pointcloud.HasNormals();
    utility::LogInfo("Pointcloud has %d points.",
                     (int)pointcloud.points_.size());

    Eigen::Vector3d min_bound = pointcloud.GetMinBound();
    Eigen::Vector3d max_bound = pointcloud.GetMaxBound();
    utility::LogInfo(
            "Bounding box is: ({:.4f}, {:.4f}, {:.4f}) - ({:.4f}, {:.4f}, "
            "{:.4f})",
            min_bound(0), min_bound(1), min_bound(2), max_bound(0),
            max_bound(1), max_bound(2));

    for (size_t i = 0; i < pointcloud.points_.size(); i++) {
        if (pointcloud_has_normal) {
            const Eigen::Vector3d &point = pointcloud.points_[i];
            const Eigen::Vector3d &normal = pointcloud.normals_[i];
            utility::LogInfo("{:.6f} {:.6f} {:.6f} {:.6f} {:.6f} {:.6f}",
                             point(0), point(1), point(2), normal(0), normal(1),
                             normal(2));
        } else {
            const Eigen::Vector3d &point = pointcloud.points_[i];
            utility::LogInfo("{:.6f} {:.6f} {:.6f}", point(0), point(1),
                             point(2));
        }
    }
    utility::LogInfo("End of the list.");
}

void PrintHelp() {
    using namespace open3d;

    PrintOpen3DVersion();
    // clang-format off
    utility::LogInfo("Usage:");
    utility::LogInfo("    > PointCloud [pointcloud_filename]");
    // clang-format on
    utility::LogInfo("");
}

int main(int argc, char *argv[]) {
    using namespace open3d;

    utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);

    if (argc != 2 ||
        utility::ProgramOptionExistsAny(argc, argv, {"-h", "--help"})) {
        PrintHelp();
        return 1;
    }

    auto pcd = io::CreatePointCloudFromFile(argv[1]);
    {
        utility::ScopeTimer timer("FPFH estimation with Radius 0.25");
        // for (int i = 0; i < 20; i++) {
        pipelines::registration::ComputeFPFHFeature(
                *pcd, open3d::geometry::KDTreeSearchParamRadius(0.25));
        //}
    }

    {
        utility::ScopeTimer timer("Normal estimation with KNN20");
        for (int i = 0; i < 20; i++) {
            pcd->EstimateNormals(open3d::geometry::KDTreeSearchParamKNN(20));
        }
    }
    std::cout << pcd->normals_[0] << std::endl;
    std::cout << pcd->normals_[10] << std::endl;

    {
        utility::ScopeTimer timer("Normal estimation with Radius 0.01666");
        for (int i = 0; i < 20; i++) {
            pcd->EstimateNormals(
                    open3d::geometry::KDTreeSearchParamRadius(0.01666));
        }
    }
    std::cout << pcd->normals_[0] << std::endl;
    std::cout << pcd->normals_[10] << std::endl;

    {
        utility::ScopeTimer timer("Normal estimation with Hybrid 0.01666, 60");
        for (int i = 0; i < 20; i++) {
            pcd->EstimateNormals(
                    open3d::geometry::KDTreeSearchParamHybrid(0.01666, 60));
        }
    }
    std::cout << pcd->normals_[0] << std::endl;
    std::cout << pcd->normals_[10] << std::endl;

    auto downpcd = pcd->VoxelDownSample(0.05);

    // 1. test basic pointcloud functions.

    geometry::PointCloud pointcloud;
    PrintPointCloud(pointcloud);

    pointcloud.points_.push_back(Eigen::Vector3d(0.0, 0.0, 0.0));
    pointcloud.points_.push_back(Eigen::Vector3d(1.0, 0.0, 0.0));
    pointcloud.points_.push_back(Eigen::Vector3d(0.0, 1.0, 0.0));
    pointcloud.points_.push_back(Eigen::Vector3d(0.0, 0.0, 1.0));
    PrintPointCloud(pointcloud);

    // 2. test pointcloud IO.

    const std::string filename_xyz("test.xyz");
    const std::string filename_ply("test.ply");

    if (io::ReadPointCloud(argv[1], pointcloud)) {
        utility::LogInfo("Successfully read {}", argv[1]);

        /*
        geometry::PointCloud pointcloud_copy;
        pointcloud_copy.CloneFrom(pointcloud);

        if (io::WritePointCloud(filename_xyz, pointcloud)) {
            utility::LogInfo("Successfully wrote {}",
        filename_xyz.c_str()); } else { utility::LogError("Failed to write
        {}", filename_xyz);
        }

        if (io::WritePointCloud(filename_ply, pointcloud_copy)) {
            utility::LogInfo("Successfully wrote {}",
        filename_ply); } else { utility::LogError("Failed to write
        {}", filename_ply);
        }
         */
    } else {
        utility::LogWarning("Failed to read {}", argv[1]);
    }

    // 3. test pointcloud visualization

    visualization::Visualizer visualizer;
    std::shared_ptr<geometry::PointCloud> pointcloud_ptr(
            new geometry::PointCloud);
    *pointcloud_ptr = pointcloud;
    pointcloud_ptr->NormalizeNormals();
    auto bounding_box = pointcloud_ptr->GetAxisAlignedBoundingBox();

    std::shared_ptr<geometry::PointCloud> pointcloud_transformed_ptr(
            new geometry::PointCloud);
    *pointcloud_transformed_ptr = *pointcloud_ptr;
    Eigen::Matrix4d trans_to_origin = Eigen::Matrix4d::Identity();
    trans_to_origin.block<3, 1>(0, 3) = bounding_box.GetCenter() * -1.0;
    Eigen::Matrix4d transformation = Eigen::Matrix4d::Identity();
    transformation.block<3, 3>(0, 0) = static_cast<Eigen::Matrix3d>(
            Eigen::AngleAxisd(M_PI / 4.0, Eigen::Vector3d::UnitX()));
    pointcloud_transformed_ptr->Transform(trans_to_origin.inverse() *
                                          transformation * trans_to_origin);

    visualizer.CreateVisualizerWindow("Open3D", 1600, 900);
    visualizer.AddGeometry(pointcloud_ptr);
    visualizer.AddGeometry(pointcloud_transformed_ptr);
    visualizer.Run();
    visualizer.DestroyVisualizerWindow();

    // 4. test operations
    *pointcloud_transformed_ptr += *pointcloud_ptr;
    visualization::DrawGeometries({pointcloud_transformed_ptr},
                                  "Combined Pointcloud");

    // 5. test downsample
    auto downsampled = pointcloud_ptr->VoxelDownSample(0.05);
    visualization::DrawGeometries({downsampled}, "Down Sampled Pointcloud");

    // 6. test normal estimation
    visualization::DrawGeometriesWithKeyCallbacks(
            {pointcloud_ptr},
            {{GLFW_KEY_SPACE,
              [&](visualization::Visualizer *vis) {
                  // EstimateNormals(*pointcloud_ptr,
                  //        open3d::KDTreeSearchParamKNN(20));
                  pointcloud_ptr->EstimateNormals(
                          open3d::geometry::KDTreeSearchParamRadius(0.05));
                  utility::LogInfo("Done.");
                  return true;
              }}},
            "Press Space to Estimate Normal", 1600, 900);

    // n. test end

    utility::LogInfo("End of the test.");
    return 0;
}