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#include "NeighborClassifierFilter.hpp"

#include <pdal/PipelineManager.hpp>
#include <pdal/StageFactory.hpp>
#include <pdal/util/ProgramArgs.hpp>

#include "private/DimRange.hpp"

#include <iostream>
#include <utility>
namespace pdal
{

static PluginInfo const s_info = PluginInfo(
    "filters.neighborclassifier",
    "Re-assign some point attributes based KNN voting",
    "http://pdal.io/stages/filters.neighborclassifier.html" );

CREATE_STATIC_STAGE(NeighborClassifierFilter, s_info)

NeighborClassifierFilter::NeighborClassifierFilter() :
    m_dim(Dimension::Id::Classification)
{}


NeighborClassifierFilter::~NeighborClassifierFilter()
{}


void NeighborClassifierFilter::addArgs(ProgramArgs& args)
{
    args.add("domain", "Selects which points will be subject to "
        "KNN-based assignment", m_domainSpec);
    args.add("k", "Number of nearest neighbors to consult",
        m_k).setPositional();
    args.add("candidate", "candidate file name", m_candidateFile);
}

void NeighborClassifierFilter::initialize()
{
    for (auto const& r : m_domainSpec)
    {
        try
        {
            DimRange range;
            range.parse(r);
            m_domain.push_back(range);
        }
        catch (const DimRange::error& err)
        {
            throwError("Invalid 'domain' option: '" + r + "': " + err.what());
        }
    }
    if (m_k < 1)
        throwError("Invalid 'k' option: " + std::to_string(m_k) +
            ", must be > 0");
}


void NeighborClassifierFilter::prepared(PointTableRef table)
{
    PointLayoutPtr layout(table.layout());

    for (auto& r : m_domain)
    {
        r.m_id = layout->findDim(r.m_name);
        if (r.m_id == Dimension::Id::Unknown)
            throwError("Invalid dimension name in 'domain' option: '" +
                r.m_name + "'.");
    }
    std::sort(m_domain.begin(), m_domain.end());
}


void NeighborClassifierFilter::ready(PointTableRef)
{
    m_newClass.clear();
}


void NeighborClassifierFilter::doOneNoDomain(PointRef &point, PointRef &temp,
    KD3Index &kdi)
{
    PointIdList iSrc = kdi.neighbors(point, m_k);
    double thresh = iSrc.size()/2.0;

    // vote NNs
    using CountMap = std::map<int, unsigned int>;
    CountMap counts;
    //std::map<int, unsigned int> counts;
    for (PointId id : iSrc)
    {
        temp.setPointId(id);
        counts[temp.getFieldAs<int>(m_dim)]++;
    }

    // pick winner of the vote
    auto pr = *std::max_element(counts.begin(), counts.end(),
        [](CountMap::const_reference p1, CountMap::const_reference p2)
        { return p1.second < p2.second; });

    // update point
    auto oldclass = point.getFieldAs<double>(m_dim);
    auto newclass = pr.first;
    if (pr.second > thresh && oldclass != newclass)
        m_newClass[point.pointId()] = newclass;
}

// update point.  kdi and temp both reference the NN point cloud
bool NeighborClassifierFilter::doOne(PointRef& point, PointRef &temp,
    KD3Index &kdi)
{
    if (m_domain.empty())  // No domain, process all points
        doOneNoDomain(point, temp, kdi);

    for (DimRange& r : m_domain)
    {   // process only points that satisfy a domain condition
        if (r.valuePasses(point.getFieldAs<double>(r.m_id)))
        {
            doOneNoDomain(point, temp, kdi);
            break;
        }
    }
    return true;
}


PointViewPtr NeighborClassifierFilter::loadSet(const std::string& filename,
    PointTableRef table)
{
    PipelineManager mgr;

    Stage& reader = mgr.makeReader(filename, "");
    reader.prepare(table);
    PointViewSet viewSet = reader.execute(table);
    assert(viewSet.size() == 1);
    return *viewSet.begin();
}

void NeighborClassifierFilter::filter(PointView& view)
{
    PointRef point_src(view, 0);
    if (m_candidateFile.empty())
    {   // No candidate file so NN comes from src file
        KD3Index& kdiSrc = view.build3dIndex();
        PointRef point_nn(view, 0);
        for (PointId id = 0; id < view.size(); ++id)
        {
            point_src.setPointId(id);
            doOne(point_src, point_nn, kdiSrc);
        }
    }
    else
    {   // NN comes from candidate file
        ColumnPointTable candTable;
        PointViewPtr candView = loadSet(m_candidateFile, candTable);
        KD3Index& kdiCand = candView->build3dIndex();
        PointRef point_nn(*candView, 0);
        for (PointId id = 0; id < view.size(); ++id)
        {
            point_src.setPointId(id);
            doOne(point_src, point_nn, kdiCand);
        }
    }

    for (auto& p : m_newClass)
        view.setField(m_dim, p.first, p.second);
}

} // namespace pdal

