// Copyright (c) 2018  Liangliang Nan. All rights reserved.
//
// This file is part of CGAL (www.cgal.org)
//
// $URL: https://github.com/CGAL/cgal/blob/releases/CGAL-5.0.2/Polygonal_surface_reconstruction/include/CGAL/internal/point_set_with_planes.h $
// $Id: point_set_with_planes.h 52164b1 2019-10-19T15:34:59+02:00 Sébastien Loriot
// SPDX-License-Identifier: LGPL-3.0-or-later OR LicenseRef-Commercial
//
// Author(s) : Liangliang Nan

#ifndef CGAL_POLYGONAL_SURFACE_RECONSTRUCTION_POINT_SET_WITH_PLANES_H
#define CGAL_POLYGONAL_SURFACE_RECONSTRUCTION_POINT_SET_WITH_PLANES_H

#include <CGAL/license/Polygonal_surface_reconstruction.h>

#include <CGAL/Point_set_3.h>
#include <CGAL/property_map.h>
#include <CGAL/linear_least_squares_fitting_3.h>

#include <vector>


/*!
\file Point_set_with_planes.h
*/

namespace CGAL {


	namespace internal {

		// forward declaration
		template <typename Kernel>
		class Point_set_with_planes;


		/**
		*	A group of points (represented by their indices) belonging to a planar segment in a point set.
		*/
		template <typename Kernel>
		class Planar_segment : public std::vector<std::size_t>
		{
		public:
                        typedef typename Kernel::Point_3            	Point;
                        typedef typename Kernel::Plane_3		Plane;
                        typedef internal::Point_set_with_planes<Kernel>	Point_set;

		public:

			// \param point_set the point set that owns this planar segment.
			Planar_segment(Point_set* point_set) : point_set_(point_set), supporting_plane_(nullptr) {}
			~Planar_segment() {}

			Point_set* point_set() { return point_set_; }
			void set_point_set(Point_set* point_set) { point_set_ = point_set; }

			// Fits and returns the supporting plane of this planar segment
			Plane* fit_supporting_plane() {
				const typename Point_set::Point_map& points = point_set_->point_map();
				std::list<Point> pts;
				for (std::size_t i = 0; i < size(); ++i) {
					std::size_t idx = at(i);
					pts.push_back(points[idx]);
				}

				if (supporting_plane_)
					delete supporting_plane_;
				supporting_plane_ = new Plane;
				CGAL::linear_least_squares_fitting_3(pts.begin(), pts.end(), *supporting_plane_, CGAL::Dimension_tag<0>());
				return supporting_plane_;
			}

			// Returns the supporting plane of this planar segment.
			// \note Returned plane is valid only if fit_supporting_plane() has been called.
			Plane* supporting_plane() const { return supporting_plane_; }

		private:
                        Point_set * 	point_set_;
                        Plane *		supporting_plane_; // The hypothesis generator owns this plane and manages the memory
		};


		/**
		*	An enriched point set that stores the extracted planar segments
		*/
		template <typename Kernel>
		class Point_set_with_planes : public Point_set_3<typename Kernel::Point_3>
		{
		public:

			typedef Point_set_3<typename Kernel::Point_3>	Base_class;
                        typedef Point_set_with_planes<Kernel>		This_class;

                        typedef typename Kernel::FT			FT;
                        typedef typename Kernel::Point_3		Point;
                        typedef typename Kernel::Vector_3		Vector;
                        typedef typename Kernel::Plane_3		Plane;
                        typedef internal::Planar_segment<Kernel>	Planar_segment;

		public:

			/*!
			\tparam PointRange The range of input points.

			\tparam PointMap is a model of `ReadablePropertyMap` with value
			type `Point_3<Kernel > `.

			\tparam NormalMap is a model of `ReadablePropertyMap` with value
			type `Vector_3<Kernel > `.

			\tparam PlaneIndexMap is a model of `ReadablePropertyMap` with value
			type `int `.

			\param point_range the input point range.

			\param point_map property map: value_type of `InputIterator` -> Point_3.

			\param normal_map property map: value_type of `InputIterator` -> Vector_3.

			\param plane_index_map property map: value_type of `InputIterator` -> int,
			denoting the index of the plane it belongs to.
			*/
			template <
				typename PointRange,
				typename PointMap,
				typename NormalMap,
				typename PlaneIndexMap
			>
				Point_set_with_planes(
					const PointRange& points,
					PointMap point_map,
					NormalMap normal_map,
					PlaneIndexMap plane_index_map
				)
			{
				Base_class::resize(points.size());
				Base_class::add_normal_map();

				// Gets to know the number of plane from the plane indices
				int max_plane_index = 0;
				for (typename PointRange::const_iterator it = points.begin(); it != points.end(); ++it) {
					int plane_index = get(plane_index_map, *it);
					if (plane_index > max_plane_index)
						max_plane_index = plane_index;
				}
				std::size_t num_plane = max_plane_index + 1; // the first one has index 0

				for (std::size_t i = 0; i < num_plane; ++i)
					planar_segments_.push_back(new Planar_segment(this));

				std::size_t idx = 0;
				for (typename PointRange::const_iterator it = points.begin(); it != points.end(); ++it) {
					Base_class::m_points[idx] = get(point_map, *it);
					Base_class::m_normals[idx] = get(normal_map, *it);
					int plane_index = get(plane_index_map, *it);
					if (plane_index != -1) {
						Planar_segment* ps = planar_segments_[plane_index];
						ps->push_back(idx);
					}

					++idx;
				}
			}

			~Point_set_with_planes() {
				for (std::size_t i = 0; i < planar_segments_.size(); ++i)
					delete planar_segments_[i];
			}

			std::vector< Planar_segment* >& planar_segments() { return planar_segments_; }
			const std::vector< Planar_segment* >& planar_segments() const { return planar_segments_; }

		private:
			std::vector< Planar_segment* > planar_segments_;
		};

	} //namespace internal

} //namespace CGAL


#endif // CGAL_POLYGONAL_SURFACE_RECONSTRUCTION_POINT_SET_WITH_PLANES_H
