//
// Created by 30453 on 2024/4/1.
//

#ifndef LAMPCAE_POINTCLOUDDATAEXCHANGE_H
#define LAMPCAE_POINTCLOUDDATAEXCHANGE_H

#include "MeshThreadBase.h"
#include <QTextStream>
#include <QHash>

// Point Cloud Library
#include <QColorDialog>
#include <iostream>
#include <pcl/common/common.h>
#include <pcl/console/time.h> // TicToc
#include <pcl/console/time.h>
#include <pcl/filters/convolution_3d.h>
#include <pcl/filters/filter.h>
#include <pcl/filters/radius_outlier_removal.h>
#include <pcl/filters/statistical_outlier_removal.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>

#include <boost/random.hpp> //随机数
#include <boost/thread/thread.hpp>
#include <iostream>
#include <pcl/console/time.h> // TicToc
#include <pcl/features/normal_3d.h>
#include <pcl/filters/bilateral.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/fast_bilateral.h>
#include <pcl/filters/fast_bilateral_omp.h>
#include <pcl/filters/passthrough.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/registration/ia_fpcs.h>  // 4PCS算法
#include <pcl/registration/ia_kfpcs.h> //K4PCS算法头文件
#include <pcl/registration/icp.h>
#include <pcl/registration/registration.h>
#include <pcl/search/flann_search.h>
#include <pcl/surface/concave_hull.h>
#include <pcl/surface/gp3.h> //贪婪投影三角化算法类定义的头文件
#include <pcl/surface/marching_cubes_hoppe.h> //移动立方体
#include <pcl/surface/marching_cubes_rbf.h>
#include <pcl/surface/mls.h>     //MLS
#include <pcl/surface/poisson.h> //泊松重建
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <string>
#include <vector>
#include <vtkOutputWindow.h>

#include <pcl/console/time.h>                   // TicToc
#include <pcl/filters/approximate_voxel_grid.h> // 体素滤波
#include <pcl/filters/voxel_grid.h>             // 体素滤波
#include <vtkOutputWindow.h>

#include <boost/thread/thread.hpp>
#include <pcl/ModelCoefficients.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/sample_consensus/method_types.h> //随机参数估计方法
#include <pcl/sample_consensus/model_types.h>  //模型定义
#include <pcl/segmentation/sac_segmentation.h> //RANSAC分割
#include <pcl/visualization/pcl_visualizer.h>
#include <sstream>
#include <stdlib.h> //rand()头文件
#include <vtkMassProperties.h>
#include <vtkPLYReader.h>
#include <vtkSmartPointer.h>
#include <vtkTriangleFilter.h>

#include <Eigen/Core>
#include <iostream>
#include <pcl/common/common.h>
#include <pcl/common/transforms.h>
#include <pcl/features/moment_of_inertia_estimation.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/vtk_io.h>
#include <pcl/io/vtk_lib_io.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <string>
#include <string>
#include <vector>
#include <vtkAutoInit.h>
//可视化相关头文件
#include <vtkActor.h>
#include <vtkAutoInit.h>
#include <vtkInteractorStyleTrackballCamera.h>
#include <vtkPolyDataMapper.h>
#include <vtkProperty.h>
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkRenderer.h>
// Boost
#include <boost/math/special_functions/round.hpp>

// Visualization Toolkit (VTK)
#include <vtkRenderWindow.h>




namespace MeshData {
	class MeshData;

	class MESHDATAEXCHANGEPLUGINAPI PointClouddataExchange : public MeshThreadBase
	{
	public:
		PointClouddataExchange(const QString &fileName, MeshOperation operation, GUI::MainWindow *mw, int modelId = -1);
		~PointClouddataExchange()=default;

		void run() ;
		bool read();
		bool write();
	private:
		vtkDataSet* readPCD();
		vtkDataSet* readPLY();
		vtkDataSet* readXYZ();

		bool writePCD();
		bool writePLY();
		bool writeXYZ();
	private:
		QString _fileName;
		MeshData* _meshData{};
		MeshOperation _operation;
		int _modelId;

	};

} // namespace MeshData

#endif // LAMPCAE_POINTCLOUDDATAEXCHANGE_H