/****************************************************************************
 Copyright (C) 2010-2012 the Office National des Forêts (ONF), France
                         All rights reserved.

 Contact : alexandre.piboule@onf.fr

 Developers : Alexandre PIBOULE (ONF)

 This file is part of PluginONF library.

 PluginONF is free library: you can redistribute it and/or modify
 it under the terms of the GNU Lesser General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.

 PluginONF is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.

 You should have received a copy of the GNU Lesser General Public License
 along with PluginONF.  If not, see <http://www.gnu.org/licenses/lgpl.html>.
*****************************************************************************/

#ifndef ONF_STEPMATCHITEMSPOSITIONS_H
#define ONF_STEPMATCHITEMSPOSITIONS_H

#include "ct_step/abstract/ct_abstractstep.h"

#include "ct_itemdrawable/abstract/ct_abstractsingularitemdrawable.h"
#include "ct_itemdrawable/ct_referencepoint.h"
#include "ct_itemdrawable/ct_line.h"
#include "ct_itemdrawable/ct_itemattributelist.h"
#include "ct_itemdrawable/ct_transformationmatrix.h"
#include "ct_itemdrawable/ct_loopcounter.h"

#include "Eigen/Core"
#include <math.h>

class ONF_StepMatchItemsPositions: public CT_AbstractStep
{
    Q_OBJECT
    using SuperClass = CT_AbstractStep;

public:

    ONF_StepMatchItemsPositions();

    QString description() const override;
    QString detailledDescription() const override;
    QString inputDescription() const override;
    QString outputDescription() const override;
    QString detailsDescription() const override;

    QString URL() const override;

    CT_VirtualAbstractStep* createNewInstance() const final;

protected:

    void declareInputModels(CT_StepInModelStructureManager& manager) final;

    void fillPostInputConfigurationDialog(CT_StepConfigurableDialog* postInputConfigDialog) final;

    void declareOutputModels(CT_StepOutModelStructureManager& manager) final;

    /*! \brief Algorithm of the step
     *
     * Step computation, using input results, and creating output results
     *
     * Adapted from :
     * Marius Hauglin, Vegard Lien, Erik Næsset & Terje Gobakken (2014)
     * Geo-referencing forest field plots by co-registration of terrestrial and airborne laser scanning data,
     * International Journal of Remote Sensing, 35:9, 3135-3149, DOI: 10.1080/01431161.2014.903440
     */
    void compute() final;

private:

    // Step parameters
    double      _distThreshold;
    double      _relativeSizeThreshold;
    double      _minRelativeSize;
    double      _maxTheta;
    bool        _possiblyInvertedDirection;
    double      _coef_nbRwc;
    double      _coef_nbTwc;
    double      _coef_nbSim;
    int         _drawMode;
    int         _relativeMode;
    double      _minval;
    double      _maxval;
    bool        _exportReport;
    QStringList _reportFileName;
    bool        _exportData;
    QStringList _transformedDataFileName;
    QStringList _transformationDataFileName;

    template <typename T> int sgn(T val)
    {
        return (val > T(0)) - (val < T(0));
    }

    Eigen::Matrix3d Kabsch(Eigen::MatrixXd &refPositions, Eigen::MatrixXd &transPositions, int pointsNumber, Eigen::Vector3d &center, Eigen::Vector3d &translation);

    Eigen::Matrix3d computeTransfMatrix2D(const Eigen::Vector2d &center, const Eigen::Vector2d &tranlation, const Eigen::Matrix2d &rotMat);


    CT_HandleInResultGroup<>                                                            _inResultRef;
    CT_HandleInStdZeroOrMoreGroup                                                       _inZeroOrMoreRootGroupRef;
    CT_HandleInStdGroup<>                                                               _inGroupRef;
    CT_HandleInSingularItem<CT_AbstractSingularItemDrawable>                            _inPositionRef;
    CT_HandleInItemAttribute<CT_AbstractItemAttribute, CT_AbstractCategory::DOUBLE>     _inXRef;
    CT_HandleInItemAttribute<CT_AbstractItemAttribute, CT_AbstractCategory::DOUBLE>     _inYRef;
    CT_HandleInItemAttribute<CT_AbstractItemAttribute, CT_AbstractCategory::ANY>        _inIDRef;
    CT_HandleInItemAttribute<CT_AbstractItemAttribute, CT_AbstractCategory::ANY>        _inIDPlotRef;
    CT_HandleInItemAttribute<CT_AbstractItemAttribute, CT_AbstractCategory::NUMBER>     _inValueRef;

    CT_HandleInResultGroup<>                                                            _inResultTrans;
    CT_HandleInStdZeroOrMoreGroup                                                       _inZeroOrMoreRootGroupTrans;
    CT_HandleInStdGroup<>                                                               _inGroupTrans;
    CT_HandleInSingularItem<CT_AbstractSingularItemDrawable>                            _inPositionTrans;
    CT_HandleInItemAttribute<CT_AbstractItemAttribute, CT_AbstractCategory::DOUBLE>     _inXTrans;
    CT_HandleInItemAttribute<CT_AbstractItemAttribute, CT_AbstractCategory::DOUBLE>     _inYTrans;
    CT_HandleInItemAttribute<CT_AbstractItemAttribute, CT_AbstractCategory::ANY>        _inIDTrans;
    CT_HandleInItemAttribute<CT_AbstractItemAttribute, CT_AbstractCategory::NUMBER>     _inValueTrans;

    CT_HandleInResultGroup<0,1>                                                         _inResultCounter;
    CT_HandleInStdZeroOrMoreGroup                                                       _inZeroOrMoreRootGroupCounter;
    CT_HandleInSingularItem<CT_LoopCounter>                                             _inCounter;


    CT_HandleOutResultGroup                                                             _outResultTrans;
    CT_HandleOutStdGroup                                                                _outRootGrpTrans;

    CT_HandleOutSingularItem<CT_TransformationMatrix>                                   _outTrMat;
    CT_HandleOutSingularItem<CT_ItemAttributeList>                                      _outAttributes;
    CT_HandleOutStdItemAttribute<double>                                                _outAttRmseDist;
    CT_HandleOutStdItemAttribute<double>                                                _outAttRmseVal;
    CT_HandleOutStdItemAttribute<double>                                                _outAttMaxDist;
    CT_HandleOutStdItemAttribute<double>                                                _outAttMaxDistDiff;

    CT_HandleOutStdGroup                                                                _outGrpTrans;
    CT_HandleOutSingularItem<CT_ReferencePoint>                                         _outTransRefPoint;
    CT_HandleOutStdItemAttribute<QString>                                               _outTransId;
    CT_HandleOutStdItemAttribute<QString>                                               _outRefCorrespId;
    CT_HandleOutStdItemAttribute<double>                                                _outDeltaValue;
    CT_HandleOutStdItemAttribute<double>                                                _outDistance;
    CT_HandleOutSingularItem<CT_ReferencePoint>                                         _outTransposCorresp;
    CT_HandleOutSingularItem<CT_Line>                                                   _outCorrespLine;


    CT_HandleOutResultGroup                                                             _outResultInter;
    CT_HandleOutStdGroup                                                                _outGrpInter;
    CT_HandleOutSingularItem<CT_ReferencePoint>                                         _outInter;



};

#endif // ONF_STEPMATCHITEMSPOSITIONS_H