/*
Copyright (c) 2010-2021, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

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      names of its contributors may be used to endorse or promote products
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*/

#ifndef CORELIB_SRC_ICP_CCCORELIB_H_
#define CORELIB_SRC_ICP_CCCORELIB_H_

#include <CCCoreLib/RegistrationTools.h>

namespace rtabmap {

rtabmap::Transform icpCC(
		const pcl::PointCloud<pcl::PointXYZI>::Ptr & fromCloud,
		pcl::PointCloud<pcl::PointXYZI>::Ptr & toCloud,
		int maxIterations = 150,
		double minRMSDecrease = 0.00001,
		bool force3DoF = false,
		bool force4DoF = false,
		int samplingLimit = 50000,
		double finalOverlapRatio = 0.85,
		bool filterOutFarthestPoints = false,
		double maxFinalRMS = 0.2,
		float * finalRMS = 0,
		std::string * errorMsg = 0)
{
	UDEBUG("maxIterations=%d", maxIterations);
	UDEBUG("minRMSDecrease=%f", minRMSDecrease);
	UDEBUG("samplingLimit=%d", samplingLimit);
	UDEBUG("finalOverlapRatio=%f", finalOverlapRatio);
	UDEBUG("filterOutFarthestPoints=%s", filterOutFarthestPoints?"true":"false");
	UDEBUG("force 3DoF=%s 4DoF=%s", force3DoF?"true":"false", force4DoF?"true":"false");
	UDEBUG("maxFinalRMS=%f", maxFinalRMS);

	rtabmap::Transform icpTransformation;

	CCCoreLib::ICPRegistrationTools::RESULT_TYPE result;
	CCCoreLib::PointProjectionTools::Transformation transform;
	CCCoreLib::ICPRegistrationTools::Parameters params;
	{
		if(minRMSDecrease > 0.0)
		{
			params.convType = CCCoreLib::ICPRegistrationTools::MAX_ERROR_CONVERGENCE;
			params.minRMSDecrease = minRMSDecrease; //! The minimum error (RMS) reduction between two consecutive steps to continue process (ignored if convType is not MAX_ERROR_CONVERGENCE)
		}
		else
		{
			params.convType = CCCoreLib::ICPRegistrationTools::MAX_ITER_CONVERGENCE;
			params.nbMaxIterations = maxIterations; //! The maximum number of iteration (ignored if convType is not MAX_ITER_CONVERGENCE)
		}
		params.adjustScale = false;             //! Whether to release the scale parameter during the registration procedure or not
		params.filterOutFarthestPoints = filterOutFarthestPoints; //! If true, the algorithm will automatically ignore farthest points from the reference, for better convergence
		params.samplingLimit = samplingLimit; //! Maximum number of points per cloud (they are randomly resampled below this limit otherwise)
		params.finalOverlapRatio = finalOverlapRatio;  //! Theoretical overlap ratio (at each iteration, only this percentage (between 0 and 1) will be used for registration
		params.modelWeights = nullptr;          //! Weights for model points (i.e. only if the model entity is a cloud) (optional)
		params.dataWeights = nullptr;           //! Weights for data points (optional)
		params.transformationFilters = force3DoF?33:force4DoF?1:0;  //! Filters to be applied on the resulting transformation at each step (experimental) - see RegistrationTools::TRANSFORMATION_FILTERS flags
		params.maxThreadCount = 0;              //! Maximum number of threads to use (0 = max)
	}

	double finalError = 0.0;
	unsigned finalPointCount = 0;

	CCCoreLib::PointCloud toPointCloud = CCCoreLib::PointCloud();
	CCCoreLib::PointCloud fromPointCloud = CCCoreLib::PointCloud();

	fromPointCloud.reserve(fromCloud->points.size());
	for(uint nIndex=0; nIndex < fromCloud->points.size(); nIndex++)
	{
		CCVector3 P;
		P.x = fromCloud->points[nIndex].x;
		P.y = fromCloud->points[nIndex].y;
		P.z = force3DoF?0:fromCloud->points[nIndex].z;
		fromPointCloud.addPoint(P);
	}
	toPointCloud.reserve(toCloud->points.size());
	for(uint nIndex=0; nIndex < toCloud->points.size(); nIndex++)
	{
		CCVector3 P;
		P.x = toCloud->points[nIndex].x;
		P.y = toCloud->points[nIndex].y;
		P.z = force3DoF?0:toCloud->points[nIndex].z;
		toPointCloud.addPoint(P);
	}

	UDEBUG("CCCoreLib: start ICP");
	result = CCCoreLib::ICPRegistrationTools::Register(
			&fromPointCloud,
			nullptr,
			&toPointCloud,
			params,
			transform,
			finalError,
			finalPointCount);
	UDEBUG("CCCoreLib: ICP done!");

	UDEBUG("CC ICP result: %d", result);
	UDEBUG("CC Final error: %f . Finall Pointcount: %d", finalError, finalPointCount);
	UDEBUG("CC ICP success Trans: %f %f %f", transform.T.x,transform.T.y,transform.T.z);

	if(finalRMS)
	{
		*finalRMS = (float)finalError;
	}

	if(result == CCCoreLib::ICPRegistrationTools::ICP_NOTHING_TO_DO)
	{
		// CCCoreLib's "nothing to do" outcome means the clouds were already
		// aligned (no transform needed) -- semantically identity, not a
		// failure. Return identity instead of null so callers don't have to
		// treat trivial alignment as a rejection.
		UDEBUG("CCCoreLib: ICP_NOTHING_TO_DO -- returning identity");
		return rtabmap::Transform::getIdentity();
	}
	if(result != CCCoreLib::ICPRegistrationTools::ICP_APPLY_TRANSFO)
	{
		std::string msg = uFormat("CCCoreLib has failed: Rejecting transform as result %d !=1", result);
		UDEBUG("%s", msg.c_str());
		if(errorMsg)
		{
			*errorMsg = msg;
		}

		icpTransformation.setNull();
		return icpTransformation;
	}
	else if(!transform.R.isValid())
	{
		std::string msg = uFormat("CCCoreLib has failed: Rotation matrix is invalid");
		UDEBUG("%s", msg.c_str());
		if(errorMsg)
		{
			*errorMsg = msg;
		}
		icpTransformation.setNull();
		return icpTransformation;
	}
	//CC transform to EIgen4f
	Eigen::Matrix4f matrix;
	matrix.setIdentity();
	for(int i=0;i<3;i++)
	{
		for(int j=0;j<3;j++)
		{
			matrix(i,j)=transform.R.getValue(i,j);
		}
	}
	for(int i=0;i<3;i++)
	{
		matrix(i,3)=transform.T[i];
	}

	icpTransformation = rtabmap::Transform::fromEigen4f(matrix);
	icpTransformation = icpTransformation.inverse();
	UDEBUG("CC ICP result: %s", icpTransformation.prettyPrint().c_str());

	if(finalError > maxFinalRMS)
	{
		std::string msg = uFormat("CCCoreLib has failed: Rejecting transform as RMS %f > %f (%s) ", finalError, maxFinalRMS, rtabmap::Parameters::kIcpCCMaxFinalRMS().c_str());
		UDEBUG("%s", msg.c_str());
		if(errorMsg)
		{
			*errorMsg = msg;
		}
		icpTransformation.setNull();
	}
	return icpTransformation;
}

}

#endif /* CORELIB_SRC_ICP_CCCORELIB_H_ */