/*
 * Copyright (C) 2005-2020 Centre National d'Etudes Spatiales (CNES)
 *
 * This file is part of Orfeo Toolbox
 *
 *     https://www.orfeo-toolbox.org/
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef otbDisparityMapTo3DFilter_hxx
#define otbDisparityMapTo3DFilter_hxx

#include "otbDisparityMapTo3DFilter.h"
#include "itkImageRegionConstIteratorWithIndex.h"
#include "itkImageRegionIterator.h"

namespace otb
{

template <class TDisparityImage, class TOutputImage, class TEpipolarGridImage, class TMaskImage>
DisparityMapTo3DFilter<TDisparityImage, TOutputImage, TEpipolarGridImage, TMaskImage>::DisparityMapTo3DFilter()
{
  // Set the number of inputs
  this->SetNumberOfRequiredInputs(5);
  this->SetNumberOfRequiredInputs(1);

  // Set the outputs
  this->SetNumberOfRequiredOutputs(1);
  this->SetNthOutput(0, TOutputImage::New());
}

template <class TDisparityImage, class TOutputImage, class TEpipolarGridImage, class TMaskImage>
DisparityMapTo3DFilter<TDisparityImage, TOutputImage, TEpipolarGridImage, TMaskImage>::~DisparityMapTo3DFilter()
{
}

template <class TDisparityImage, class TOutputImage, class TEpipolarGridImage, class TMaskImage>
void DisparityMapTo3DFilter<TDisparityImage, TOutputImage, TEpipolarGridImage, TMaskImage>::SetHorizontalDisparityMapInput(const TDisparityImage* hmap)
{
  // Process object is not const-correct so the const casting is required.
  this->SetNthInput(0, const_cast<TDisparityImage*>(hmap));
}

template <class TDisparityImage, class TOutputImage, class TEpipolarGridImage, class TMaskImage>
void DisparityMapTo3DFilter<TDisparityImage, TOutputImage, TEpipolarGridImage, TMaskImage>::SetVerticalDisparityMapInput(const TDisparityImage* vmap)
{
  // Process object is not const-correct so the const casting is required.
  this->SetNthInput(1, const_cast<TDisparityImage*>(vmap));
}

template <class TDisparityImage, class TOutputImage, class TEpipolarGridImage, class TMaskImage>
void DisparityMapTo3DFilter<TDisparityImage, TOutputImage, TEpipolarGridImage, TMaskImage>::SetLeftEpipolarGridInput(const TEpipolarGridImage* grid)
{
  // Process object is not const-correct so the const casting is required.
  this->SetNthInput(2, const_cast<TEpipolarGridImage*>(grid));
}

template <class TDisparityImage, class TOutputImage, class TEpipolarGridImage, class TMaskImage>
void DisparityMapTo3DFilter<TDisparityImage, TOutputImage, TEpipolarGridImage, TMaskImage>::SetRightEpipolarGridInput(const TEpipolarGridImage* grid)
{
  // Process object is not const-correct so the const casting is required.
  this->SetNthInput(3, const_cast<TEpipolarGridImage*>(grid));
}

template <class TDisparityImage, class TOutputImage, class TEpipolarGridImage, class TMaskImage>
void DisparityMapTo3DFilter<TDisparityImage, TOutputImage, TEpipolarGridImage, TMaskImage>::SetDisparityMaskInput(const TMaskImage* mask)
{
  // Process object is not const-correct so the const casting is required.
  this->SetNthInput(4, const_cast<TMaskImage*>(mask));
}

template <class TDisparityImage, class TOutputImage, class TEpipolarGridImage, class TMaskImage>
const TDisparityImage* DisparityMapTo3DFilter<TDisparityImage, TOutputImage, TEpipolarGridImage, TMaskImage>::GetHorizontalDisparityMapInput() const
{
  if (this->GetNumberOfInputs() < 1)
  {
    return nullptr;
  }
  return static_cast<const TDisparityImage*>(this->itk::ProcessObject::GetInput(0));
}

template <class TDisparityImage, class TOutputImage, class TEpipolarGridImage, class TMaskImage>
const TDisparityImage* DisparityMapTo3DFilter<TDisparityImage, TOutputImage, TEpipolarGridImage, TMaskImage>::GetVerticalDisparityMapInput() const
{
  if (this->GetNumberOfInputs() < 2)
  {
    return nullptr;
  }
  return static_cast<const TDisparityImage*>(this->itk::ProcessObject::GetInput(1));
}

template <class TDisparityImage, class TOutputImage, class TEpipolarGridImage, class TMaskImage>
const TEpipolarGridImage* DisparityMapTo3DFilter<TDisparityImage, TOutputImage, TEpipolarGridImage, TMaskImage>::GetLeftEpipolarGridInput() const
{
  if (this->GetNumberOfInputs() < 3)
  {
    return nullptr;
  }
  return static_cast<const TEpipolarGridImage*>(this->itk::ProcessObject::GetInput(2));
}

template <class TDisparityImage, class TOutputImage, class TEpipolarGridImage, class TMaskImage>
const TEpipolarGridImage* DisparityMapTo3DFilter<TDisparityImage, TOutputImage, TEpipolarGridImage, TMaskImage>::GetRightEpipolarGridInput() const
{
  if (this->GetNumberOfInputs() < 4)
  {
    return nullptr;
  }
  return static_cast<const TEpipolarGridImage*>(this->itk::ProcessObject::GetInput(3));
}

template <class TDisparityImage, class TOutputImage, class TEpipolarGridImage, class TMaskImage>
const TMaskImage* DisparityMapTo3DFilter<TDisparityImage, TOutputImage, TEpipolarGridImage, TMaskImage>::GetDisparityMaskInput() const
{
  if (this->GetNumberOfInputs() < 5)
  {
    return nullptr;
  }
  return static_cast<const TMaskImage*>(this->itk::ProcessObject::GetInput(4));
}

template <class TDisparityImage, class TOutputImage, class TEpipolarGridImage, class TMaskImage>
void DisparityMapTo3DFilter<TDisparityImage, TOutputImage, TEpipolarGridImage, TMaskImage>::GenerateOutputInformation()
{
  const TDisparityImage* horizDisp = this->GetHorizontalDisparityMapInput();
  TOutputImage*          outputPtr = this->GetOutput();

  outputPtr->SetLargestPossibleRegion(horizDisp->GetLargestPossibleRegion());
  outputPtr->SetNumberOfComponentsPerPixel(3);

  // copy also origin and spacing
  outputPtr->SetOrigin(horizDisp->GetOrigin());
  outputPtr->SetSignedSpacing(horizDisp->GetSignedSpacing());
}

template <class TDisparityImage, class TOutputImage, class TEpipolarGridImage, class TMaskImage>
void DisparityMapTo3DFilter<TDisparityImage, TOutputImage, TEpipolarGridImage, TMaskImage>::GenerateInputRequestedRegion()
{
  // For the epi grid : generate full buffer here !
  TEpipolarGridImage* leftGrid  = const_cast<TEpipolarGridImage*>(this->GetLeftEpipolarGridInput());
  TEpipolarGridImage* rightGrid = const_cast<TEpipolarGridImage*>(this->GetRightEpipolarGridInput());

  leftGrid->SetRequestedRegionToLargestPossibleRegion();
  rightGrid->SetRequestedRegionToLargestPossibleRegion();

  TOutputImage* outputDEM = this->GetOutput();

  TDisparityImage* horizDisp = const_cast<TDisparityImage*>(this->GetHorizontalDisparityMapInput());
  TDisparityImage* vertiDisp = const_cast<TDisparityImage*>(this->GetVerticalDisparityMapInput());
  TMaskImage*      maskDisp  = const_cast<TMaskImage*>(this->GetDisparityMaskInput());

  // We impose that both disparity map inputs have the same size
  if (vertiDisp && horizDisp->GetLargestPossibleRegion() != vertiDisp->GetLargestPossibleRegion())
  {
    itkExceptionMacro(<< "Horizontal and vertical disparity maps do not have the same size ! Horizontal largest region: "
                      << horizDisp->GetLargestPossibleRegion() << ", vertical largest region: " << vertiDisp->GetLargestPossibleRegion());
  }


  if (maskDisp && horizDisp->GetLargestPossibleRegion() != maskDisp->GetLargestPossibleRegion())
  {
    itkExceptionMacro(<< "Disparity map and mask do not have the same size ! Map region : " << horizDisp->GetLargestPossibleRegion()
                      << ", mask region : " << maskDisp->GetLargestPossibleRegion());
  }

  horizDisp->SetRequestedRegion(outputDEM->GetRequestedRegion());

  if (vertiDisp)
  {
    vertiDisp->SetRequestedRegion(outputDEM->GetRequestedRegion());
  }

  if (maskDisp)
  {
    maskDisp->SetRequestedRegion(outputDEM->GetRequestedRegion());
  }

  // Check that the keywordlists are not empty
  if (m_LeftKeywordList.GetSize() == 0 || m_RightKeywordList.GetSize() == 0)
  {
    itkExceptionMacro(<< "At least one of the image keywordlist is empty : can't instantiate corresponding projection");
  }
}

template <class TDisparityImage, class TOutputImage, class TEpipolarGridImage, class TMaskImage>
void DisparityMapTo3DFilter<TDisparityImage, TOutputImage, TEpipolarGridImage, TMaskImage>::BeforeThreadedGenerateData()
{
  // Instantiate transforms
  m_LeftToGroundTransform  = RSTransformType::New();
  m_RightToGroundTransform = RSTransformType::New();

  m_LeftToGroundTransform->SetInputKeywordList(m_LeftKeywordList);
  m_RightToGroundTransform->SetInputKeywordList(m_RightKeywordList);

  m_LeftToGroundTransform->InstantiateTransform();
  m_RightToGroundTransform->InstantiateTransform();
}

template <class TDisparityImage, class TOutputImage, class TEpipolarGridImage, class TMaskImage>
void DisparityMapTo3DFilter<TDisparityImage, TOutputImage, TEpipolarGridImage, TMaskImage>::ThreadedGenerateData(
    const RegionType& itkNotUsed(outputRegionForThread), itk::ThreadIdType itkNotUsed(threadId))
{
  const TDisparityImage* horizDisp = this->GetHorizontalDisparityMapInput();
  const TDisparityImage* vertiDisp = this->GetVerticalDisparityMapInput();

  const TMaskImage* disparityMask = this->GetDisparityMaskInput();

  TOutputImage* outputDEM = this->GetOutput();

  // Get epipolar grids
  const TEpipolarGridImage* leftGrid  = this->GetLeftEpipolarGridInput();
  const TEpipolarGridImage* rightGrid = this->GetRightEpipolarGridInput();

  typename TEpipolarGridImage::RegionType gridRegion = leftGrid->GetLargestPossibleRegion();

  typename TOutputImage::RegionType outputRequestedRegion = outputDEM->GetRequestedRegion();

  itk::ImageRegionIterator<OutputImageType>                demIt(outputDEM, outputRequestedRegion);
  itk::ImageRegionConstIteratorWithIndex<DisparityMapType> horizIt(horizDisp, outputRequestedRegion);

  demIt.GoToBegin();
  horizIt.GoToBegin();

  bool                                                     useVerti = false;
  itk::ImageRegionConstIteratorWithIndex<DisparityMapType> vertiIt;
  if (vertiDisp)
  {
    useVerti = true;
    vertiIt  = itk::ImageRegionConstIteratorWithIndex<DisparityMapType>(vertiDisp, outputRequestedRegion);
    vertiIt.GoToBegin();
  }

  bool                                         useMask = false;
  itk::ImageRegionConstIterator<MaskImageType> maskIt;
  if (disparityMask)
  {
    useMask = true;
    maskIt  = itk::ImageRegionConstIterator<MaskImageType>(disparityMask, outputRequestedRegion);
    maskIt.GoToBegin();
  }

  double elevationMin = 0.0;
  double elevationMax = 300.0;

  typename OptimizerType::Pointer optimizer = OptimizerType::New();

  typename TDisparityImage::PointType epiPoint;
  itk::ContinuousIndex<double, 2> gridIndexConti;
  double                            subPixIndex[2];
  typename GridImageType::IndexType ulIndex, urIndex, lrIndex, llIndex;
  typename GridImageType::PixelType ulPixel(2);
  typename GridImageType::PixelType urPixel(2);
  typename GridImageType::PixelType lrPixel(2);
  typename GridImageType::PixelType llPixel(2);
  typename GridImageType::PixelType cPixel(2);

  typename GridImageType::PointType ulPoint;
  typename GridImageType::PointType urPoint;
  typename GridImageType::PointType lrPoint;
  typename GridImageType::PointType llPoint;

  TDPointType sensorPoint;
  TDPointType leftGroundHmin;
  TDPointType leftGroundHmax;
  TDPointType rightGroundHmin;
  TDPointType rightGroundHmax;

  while (!demIt.IsAtEnd() && !horizIt.IsAtEnd())
  {
    // check mask value if any
    if (useMask)
    {
      if (!(maskIt.Get() > 0))
      {
        // TODO : what to do when masked ? put a no-data value ?
        typename OutputImageType::PixelType pixel3D(3);
        pixel3D.Fill(0);
        demIt.Set(pixel3D);

        ++demIt;
        ++horizIt;
        if (useVerti)
          ++vertiIt;
        ++maskIt;
        continue;
      }
    }

    // compute left ray
    horizDisp->TransformIndexToPhysicalPoint(horizIt.GetIndex(), epiPoint);
    leftGrid->TransformPhysicalPointToContinuousIndex(epiPoint, gridIndexConti);

    ulIndex[0] = static_cast<int>(std::floor(gridIndexConti[0]));
    ulIndex[1] = static_cast<int>(std::floor(gridIndexConti[1]));
    if (ulIndex[0] < gridRegion.GetIndex(0))
      ulIndex[0] = gridRegion.GetIndex(0);
    if (ulIndex[1] < gridRegion.GetIndex(1))
      ulIndex[1] = gridRegion.GetIndex(1);
    if (ulIndex[0] > (gridRegion.GetIndex(0) + static_cast<int>(gridRegion.GetSize(0)) - 2))
    {
      ulIndex[0] = gridRegion.GetIndex(0) + gridRegion.GetSize(0) - 2;
    }
    if (ulIndex[1] > (gridRegion.GetIndex(1) + static_cast<int>(gridRegion.GetSize(1)) - 2))
    {
      ulIndex[1] = gridRegion.GetIndex(1) + gridRegion.GetSize(1) - 2;
    }
    urIndex[0]     = ulIndex[0] + 1;
    urIndex[1]     = ulIndex[1];
    lrIndex[0]     = ulIndex[0] + 1;
    lrIndex[1]     = ulIndex[1] + 1;
    llIndex[0]     = ulIndex[0];
    llIndex[1]     = ulIndex[1] + 1;
    subPixIndex[0] = gridIndexConti[0] - static_cast<double>(ulIndex[0]);
    subPixIndex[1] = gridIndexConti[1] - static_cast<double>(ulIndex[1]);

    leftGrid->TransformIndexToPhysicalPoint(ulIndex, ulPoint);
    leftGrid->TransformIndexToPhysicalPoint(urIndex, urPoint);
    leftGrid->TransformIndexToPhysicalPoint(lrIndex, lrPoint);
    leftGrid->TransformIndexToPhysicalPoint(llIndex, llPoint);

    ulPixel[0] = (leftGrid->GetPixel(ulIndex))[0] + ulPoint[0];
    ulPixel[1] = (leftGrid->GetPixel(ulIndex))[1] + ulPoint[1];
    urPixel[0] = (leftGrid->GetPixel(urIndex))[0] + urPoint[0];
    urPixel[1] = (leftGrid->GetPixel(urIndex))[1] + urPoint[1];
    lrPixel[0] = (leftGrid->GetPixel(lrIndex))[0] + lrPoint[0];
    lrPixel[1] = (leftGrid->GetPixel(lrIndex))[1] + lrPoint[1];
    llPixel[0] = (leftGrid->GetPixel(llIndex))[0] + llPoint[0];
    llPixel[1] = (leftGrid->GetPixel(llIndex))[1] + llPoint[1];
    cPixel     = (ulPixel * (1.0 - subPixIndex[0]) + urPixel * subPixIndex[0]) * (1.0 - subPixIndex[1]) +
             (llPixel * (1.0 - subPixIndex[0]) + lrPixel * subPixIndex[0]) * subPixIndex[1];

    sensorPoint[0] = cPixel[0];
    sensorPoint[1] = cPixel[1];
    sensorPoint[2] = elevationMin;
    leftGroundHmin = m_LeftToGroundTransform->TransformPoint(sensorPoint);

    sensorPoint[2] = elevationMax;
    leftGroundHmax = m_LeftToGroundTransform->TransformPoint(sensorPoint);

    // compute right ray
    itk::ContinuousIndex<double, 2> rightIndexEstimate;
    rightIndexEstimate[0] = static_cast<double>((horizIt.GetIndex())[0]) + static_cast<double>(horizIt.Get());

    double verticalShift = 0;
    if (useVerti)
      verticalShift       = static_cast<double>(vertiIt.Get());
    rightIndexEstimate[1] = static_cast<double>((horizIt.GetIndex())[1]) + verticalShift;

    horizDisp->TransformContinuousIndexToPhysicalPoint(rightIndexEstimate, epiPoint);
    rightGrid->TransformPhysicalPointToContinuousIndex(epiPoint, gridIndexConti);

    ulIndex[0] = static_cast<int>(std::floor(gridIndexConti[0]));
    ulIndex[1] = static_cast<int>(std::floor(gridIndexConti[1]));
    if (ulIndex[0] < gridRegion.GetIndex(0))
      ulIndex[0] = gridRegion.GetIndex(0);
    if (ulIndex[1] < gridRegion.GetIndex(1))
      ulIndex[1] = gridRegion.GetIndex(1);
    if (ulIndex[0] > (gridRegion.GetIndex(0) + static_cast<int>(gridRegion.GetSize(0)) - 2))
    {
      ulIndex[0] = gridRegion.GetIndex(0) + gridRegion.GetSize(0) - 2;
    }
    if (ulIndex[1] > (gridRegion.GetIndex(1) + static_cast<int>(gridRegion.GetSize(1)) - 2))
    {
      ulIndex[1] = gridRegion.GetIndex(1) + gridRegion.GetSize(1) - 2;
    }
    urIndex[0]     = ulIndex[0] + 1;
    urIndex[1]     = ulIndex[1];
    lrIndex[0]     = ulIndex[0] + 1;
    lrIndex[1]     = ulIndex[1] + 1;
    llIndex[0]     = ulIndex[0];
    llIndex[1]     = ulIndex[1] + 1;
    subPixIndex[0] = gridIndexConti[0] - static_cast<double>(ulIndex[0]);
    subPixIndex[1] = gridIndexConti[1] - static_cast<double>(ulIndex[1]);

    rightGrid->TransformIndexToPhysicalPoint(ulIndex, ulPoint);
    rightGrid->TransformIndexToPhysicalPoint(urIndex, urPoint);
    rightGrid->TransformIndexToPhysicalPoint(lrIndex, lrPoint);
    rightGrid->TransformIndexToPhysicalPoint(llIndex, llPoint);

    ulPixel[0] = (rightGrid->GetPixel(ulIndex))[0] + ulPoint[0];
    ulPixel[1] = (rightGrid->GetPixel(ulIndex))[1] + ulPoint[1];
    urPixel[0] = (rightGrid->GetPixel(urIndex))[0] + urPoint[0];
    urPixel[1] = (rightGrid->GetPixel(urIndex))[1] + urPoint[1];
    lrPixel[0] = (rightGrid->GetPixel(lrIndex))[0] + lrPoint[0];
    lrPixel[1] = (rightGrid->GetPixel(lrIndex))[1] + lrPoint[1];
    llPixel[0] = (rightGrid->GetPixel(llIndex))[0] + llPoint[0];
    llPixel[1] = (rightGrid->GetPixel(llIndex))[1] + llPoint[1];
    cPixel     = (ulPixel * (1.0 - subPixIndex[0]) + urPixel * subPixIndex[0]) * (1.0 - subPixIndex[1]) +
             (llPixel * (1.0 - subPixIndex[0]) + lrPixel * subPixIndex[0]) * subPixIndex[1];

    sensorPoint[0]  = cPixel[0];
    sensorPoint[1]  = cPixel[1];
    sensorPoint[2]  = elevationMin;
    rightGroundHmin = m_RightToGroundTransform->TransformPoint(sensorPoint);

    sensorPoint[2]  = elevationMax;
    rightGroundHmax = m_RightToGroundTransform->TransformPoint(sensorPoint);

    // Compute ray intersection with the generic line of sight optimizer
    typename PointSetType::Pointer pointSetA = PointSetType::New();
    typename PointSetType::Pointer pointSetB = PointSetType::New();

    pointSetA->SetPoint(0, leftGroundHmax);
    pointSetA->SetPoint(1, rightGroundHmax);
    pointSetA->SetPointData(0, 0);
    pointSetA->SetPointData(1, 1);

    pointSetB->SetPoint(0, leftGroundHmin);
    pointSetB->SetPoint(1, rightGroundHmin);
    pointSetB->SetPointData(0, 0);
    pointSetB->SetPointData(1, 1);

    TDPointType midPoint3D = optimizer->Compute(pointSetA, pointSetB);

    // record 3D point
    typename OutputImageType::PixelType pixel3D(3);
    pixel3D[0] = midPoint3D[0];
    pixel3D[1] = midPoint3D[1];
    pixel3D[2] = midPoint3D[2];
    demIt.Set(pixel3D);

    ++demIt;
    ++horizIt;

    if (useVerti)
      ++vertiIt;
    if (useMask)
      ++maskIt;
  }
}
}

#endif
