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#include <pcl/apps/in_hand_scanner/integration.h>
#include <pcl/apps/in_hand_scanner/offline_integration.h>
#include <pcl/common/pcl_filesystem.h>
#include <pcl/common/transforms.h>
#include <pcl/features/integral_image_normal.h>
#include <pcl/io/pcd_io.h>

#include <boost/algorithm/string/case_conv.hpp>

#include <QApplication>
#include <QFileDialog>
#include <QKeyEvent>
#include <QPainter>
#include <QtConcurrent>
#include <QtCore>

#include <fstream>
#include <iomanip>

////////////////////////////////////////////////////////////////////////////////

pcl::ihs::OfflineIntegration::OfflineIntegration(Base* parent)
: Base(parent)
, mesh_model_(new Mesh())
, normal_estimation_(new NormalEstimation())
, integration_(new Integration())
, destructor_called_(false)
{
  normal_estimation_->setNormalEstimationMethod(NormalEstimation::AVERAGE_3D_GRADIENT);
  normal_estimation_->setMaxDepthChangeFactor(0.02f); // in meters
  normal_estimation_->setNormalSmoothingSize(10.0f);

  integration_->setMaxSquaredDistance(1e-4); // in m^2
  integration_->setMinDirections(2);

  Base::setVisibilityConfidenceNormalization(
      static_cast<float>(integration_->getMinDirections()));
}

////////////////////////////////////////////////////////////////////////////////

pcl::ihs::OfflineIntegration::~OfflineIntegration()
{
  std::lock_guard<std::mutex> lock(mutex_);
  std::lock_guard<std::mutex> lock_quit(mutex_quit_);
  destructor_called_ = true;
}

////////////////////////////////////////////////////////////////////////////////

void
pcl::ihs::OfflineIntegration::start()
{
  QString dir = QFileDialog::getExistingDirectory(
      nullptr, "Please select a directory containing .pcd and .transform files.");

  if (dir.isEmpty()) {
    return (QApplication::quit());
  }

  path_dir_ = dir.toStdString();
  QtConcurrent::run([this] { computationThread(); });
}

////////////////////////////////////////////////////////////////////////////////

void
pcl::ihs::OfflineIntegration::computationThread()
{
  std::vector<std::string> filenames;

  if (!this->getFilesFromDirectory(path_dir_, ".pcd", filenames)) {
    std::cerr << "ERROR in offline_integration.cpp: Could not get the files from the "
                 "directory\n";
    return;
  }

  // First cloud is reference model
  std::cerr << "Processing file " << std::setw(5) << 1 << " / " << filenames.size()
            << std::endl;
  CloudXYZRGBNormalPtr cloud_model(new CloudXYZRGBNormal());
  Eigen::Matrix4f T = Eigen::Matrix4f::Identity();
  if (!this->load(filenames[0], cloud_model, T)) {
    std::cerr << "ERROR in offline_integration.cpp: Could not load the model cloud.\n";
    return;
  }

  pcl::transformPointCloudWithNormals(*cloud_model, *cloud_model, T);

  if (!integration_->reconstructMesh(cloud_model, mesh_model_)) {
    std::cerr
        << "ERROR in offline_integration.cpp: Could not reconstruct the model mesh.\n";
    return;
  }

  Base::setPivot("model");
  Base::addMesh(mesh_model_, "model");

  if (filenames.empty()) {
    return;
  }

  for (std::size_t i = 1; i < filenames.size(); ++i) {
    std::cerr << "Processing file " << std::setw(5) << i + 1 << " / "
              << filenames.size() << std::endl;

    {
      std::lock_guard<std::mutex> lock(mutex_);
      if (destructor_called_)
        return;
    }
    std::unique_lock<std::mutex> lock_quit(mutex_quit_);

    CloudXYZRGBNormalPtr cloud_data(new CloudXYZRGBNormal());
    if (!this->load(filenames[i], cloud_data, T)) {
      std::cerr << "ERROR in offline_integration.cpp: Could not load the data cloud.\n";
      return;
    }

    if (!integration_->merge(cloud_data, mesh_model_, T)) {
      std::cerr << "ERROR in offline_integration.cpp: merge failed.\n";
      return;
    }

    integration_->age(mesh_model_);

    {
      lock_quit.unlock();
      std::lock_guard<std::mutex> lock(mutex_);
      if (destructor_called_)
        return;

      Base::addMesh(
          mesh_model_, "model", Eigen::Isometry3d(T.inverse().cast<double>()));
      Base::calcFPS(computation_fps_);
    }
  }
  Base::setPivot("model");
}

////////////////////////////////////////////////////////////////////////////////

bool
pcl::ihs::OfflineIntegration::getFilesFromDirectory(
    const std::string& path_dir,
    const std::string& extension,
    std::vector<std::string>& files) const
{
  if (path_dir.empty() || !pcl_fs::exists(path_dir)) {
    std::cerr << "ERROR in offline_integration.cpp: Invalid path\n  '" << path_dir
              << "'\n";
    return (false);
  }

  pcl_fs::directory_iterator it_end;
  for (pcl_fs::directory_iterator it(path_dir); it != it_end; ++it) {
    if (!is_directory(it->status()) &&
        boost::algorithm::to_upper_copy(it->path().extension().string()) ==
            boost::algorithm::to_upper_copy(extension)) {
      files.push_back(it->path().string());
    }
  }

  if (files.empty()) {
    std::cerr << "ERROR in offline_integration.cpp: No '" << extension
              << "' files found\n";
    return (false);
  }

  sort(files.begin(), files.end());

  return (true);
}

////////////////////////////////////////////////////////////////////////////////

bool
pcl::ihs::OfflineIntegration::loadTransform(const std::string& filename,
                                            Eigen::Matrix4f& transform) const
{
  Eigen::Matrix4d tr;
  std::ifstream file;
  file.open(filename.c_str(), std::ios::binary);

  if (!file.is_open()) {
    std::cerr << "Error in offline_integration.cpp: Could not open the file '"
              << filename << "'\n";
    return (false);
  }

  for (int i = 0; i < 4; ++i) {
    for (int j = 0; j < 4; ++j) {
      file.read(reinterpret_cast<char*>(&tr(i, j)), sizeof(double));

      if (!file.good()) {
        std::cerr << "Error in offline_integration.cpp: Could not read the "
                     "transformation from the file.\n";
        return (false);
      }
    }
  }

  transform = tr.cast<float>();

  return (true);
}

////////////////////////////////////////////////////////////////////////////////

bool
pcl::ihs::OfflineIntegration::load(const std::string& filename,
                                   CloudXYZRGBNormalPtr& cloud,
                                   Eigen::Matrix4f& T) const
{
  if (!cloud) {
    cloud = CloudXYZRGBNormalPtr(new CloudXYZRGBNormal());
  }

  // Load the cloud.
  CloudXYZRGBAPtr cloud_input(new CloudXYZRGBA());

  pcl::PCDReader reader;
  if (reader.read(filename, *cloud_input) < 0) {
    std::cerr << "ERROR in offline_integration.cpp: Could not read the pcd file.\n";
    return (false);
  }

  // Normal estimation.
  normal_estimation_->setInputCloud(cloud_input);
  normal_estimation_->compute(*cloud);

  pcl::copyPointCloud(*cloud_input, *cloud);

  // Change the file extension of the file.
  // Load the transformation.
  std::string fn_transform = filename;

  std::size_t pos = fn_transform.find_last_of('.');
  if (pos == std::string::npos || pos == (fn_transform.size() - 1)) {
    std::cerr << "ERROR in offline_integration.cpp: No file extension\n";
    return (false);
  }

  fn_transform.replace(pos, std::string::npos, ".transform");

  if (!this->loadTransform(fn_transform, T)) {
    std::cerr
        << "ERROR in offline_integration.cpp: Could not load the transformation.\n";
    return (false);
  }

  return (true);
}

////////////////////////////////////////////////////////////////////////////////

void
pcl::ihs::OfflineIntegration::paintEvent(QPaintEvent* event)
{
  Base::paintEvent(event);

  QPainter painter(this);
  painter.setPen(Qt::white);
  QFont font;
  font.setPointSize(this->width() / 50);
  painter.setFont(font);

  std::string vis_fps("Visualization: "), comp_fps("Computation: ");
  {
    std::lock_guard<std::mutex> lock(mutex_);
    this->calcFPS(visualization_fps_);

    vis_fps.append(visualization_fps_.str()).append(" fps");
    comp_fps.append(computation_fps_.str()).append(" fps");
  }

  const std::string str = std::string(comp_fps).append("\n").append(vis_fps);

  painter.drawText(0,
                   0,
                   this->width(),
                   this->height(),
                   Qt::AlignBottom | Qt::AlignLeft,
                   str.c_str());
}

////////////////////////////////////////////////////////////////////////////////

void
pcl::ihs::OfflineIntegration::keyPressEvent(QKeyEvent* event)
{
  if (event->key() == Qt::Key_Escape) {
    std::lock_guard<std::mutex> lock(mutex_);
    QApplication::quit();
  }

  switch (event->key()) {
  case Qt::Key_H: {
    std::cerr
        << "======================================================================\n"
        << "Help:\n"
        << "----------------------------------------------------------------------\n"
        << "ESC: Quit the application.\n"
        << "c  : Reset the camera.\n"
        << "k  : Toggle the coloring (rgb, one color, visibility-confidence).\n"
        << "s  : Toggle the mesh representation between points and faces.\n"
        << "======================================================================\n";
    break;
  }
  case Qt::Key_C:
    Base::resetCamera();
    break;
  case Qt::Key_K:
    Base::toggleColoring();
    break;
  case Qt::Key_S:
    Base::toggleMeshRepresentation();
    break;
  default:
    break;
  }
}

////////////////////////////////////////////////////////////////////////////////
