/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: add_gaussian_noise.cpp 2417 2011-09-07 07:22:29Z rusu $
 *
 */

#include <sensor_msgs/PointCloud2.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>
#include <boost/random.hpp>
#include <boost/random/normal_distribution.hpp>

using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;

double default_standard_deviation = 0.01;

void
printHelp (int, char **argv)
{
  print_error ("Syntax is: %s input.pcd output.pcd <options>\n", argv[0]);
  print_info ("  where options are:\n");
  print_info ("                     -sd X = the standard deviation for the normal distribution (default: ");
  print_value ("%f", default_standard_deviation); print_info (")\n");
}

bool
loadCloud (const std::string &filename, sensor_msgs::PointCloud2 &cloud)
{
  TicToc tt;
  print_highlight ("Loading "); print_value ("%s ", filename.c_str ());

  tt.tic ();
  if (loadPCDFile (filename, cloud) < 0)
    return (false);
  print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms: "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
  print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());

  return (true);
}

void
compute (const sensor_msgs::PointCloud2::ConstPtr &input, sensor_msgs::PointCloud2 &output,
         double standard_deviation)
{
  TicToc tt;
  tt.tic ();

  print_highlight ("Adding Gaussian noise with mean 0.0 and standard deviation %f\n", standard_deviation);

  PointCloud<PointXYZ>::Ptr xyz_cloud (new pcl::PointCloud<PointXYZ> ());
  fromROSMsg (*input, *xyz_cloud);

  PointCloud<PointXYZ>::Ptr xyz_cloud_filtered (new PointCloud<PointXYZ> ());
  xyz_cloud_filtered->points.resize (xyz_cloud->points.size ());
  xyz_cloud_filtered->header = xyz_cloud->header;
  xyz_cloud_filtered->width = xyz_cloud->width;
  xyz_cloud_filtered->height = xyz_cloud->height;


  boost::mt19937 rng; rng.seed (static_cast<unsigned int> (time (0)));
  boost::normal_distribution<> nd (0, standard_deviation);
  boost::variate_generator<boost::mt19937&, boost::normal_distribution<> > var_nor (rng, nd);

  for (size_t point_i = 0; point_i < xyz_cloud->points.size (); ++point_i)
  {
    xyz_cloud_filtered->points[point_i].x = xyz_cloud->points[point_i].x + static_cast<float> (var_nor ());
    xyz_cloud_filtered->points[point_i].y = xyz_cloud->points[point_i].y + static_cast<float> (var_nor ());
    xyz_cloud_filtered->points[point_i].z = xyz_cloud->points[point_i].z + static_cast<float> (var_nor ());
  }

  sensor_msgs::PointCloud2 input_xyz_filtered;
  toROSMsg (*xyz_cloud_filtered, input_xyz_filtered);
  concatenateFields (*input, input_xyz_filtered, output);

  print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms: "); print_value ("%d", output.width * output.height); print_info (" points]\n");
}

void
saveCloud (const std::string &filename, const sensor_msgs::PointCloud2 &output)
{
  TicToc tt;
  tt.tic ();

  print_highlight ("Saving "); print_value ("%s ", filename.c_str ());

  pcl::io::savePCDFile (filename, output);

  print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms: "); print_value ("%d", output.width * output.height); print_info (" points]\n");
}

/* ---[ */
int
main (int argc, char** argv)
{
  print_info ("Add Gaussian noise to a point cloud. For more information, use: %s -h\n", argv[0]);

  if (argc < 3)
  {
    printHelp (argc, argv);
    return (-1);
  }

  // Parse the command line arguments for .pcd files
  std::vector<int> p_file_indices;
  p_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
  if (p_file_indices.size () != 2)
  {
    print_error ("Need one input PCD file and one output PCD file to continue.\n");
    return (-1);
  }

  // Command line parsing
  double standard_deviation = default_standard_deviation;
  parse_argument (argc, argv, "-sd", standard_deviation);

  // Load the first file
  sensor_msgs::PointCloud2::Ptr cloud (new sensor_msgs::PointCloud2);
  if (!loadCloud (argv[p_file_indices[0]], *cloud))
    return (-1);

  // Add the noise
  sensor_msgs::PointCloud2 output;
  compute (cloud, output, standard_deviation);

  // Save into the second file
  saveCloud (argv[p_file_indices[1]], output);
}

