/**
 * @file DialogPCLStatisticalRemoveFilter.cpp
 * @brief None
 * @author 陈增辉 (3045316072@qq.com)
 * @version 2.5.0
 * @date 2024/4/5
 * @copyright Copyright (c) Since 2024 中科卫星应用研究院  All rights reserved.
 */

// You may need to build the project (run Qt uic code generator) to get
// "ui_DialogPCLStatisticalRemoveFilter.h" resolved

#include "DialogPCLRadiusOutlierRemoval.h"
#include "ui_DialogPCLRadiusOutlierRemoval.h"

#include "PythonModule/PyAgent.h"
#include "MeshData/meshSingleton.h"
#include "MeshData/meshSet.h"
#include <QMenu>
#include <QDebug>
#include <pcl/filters/convolution_3d.h>
#include <QFileDialog>
#include <QFileInfo>
#include <pcl/filters/statistical_outlier_removal.h>
#include <pcl/filters/radius_outlier_removal.h>
#include "MeshData/meshKernal.h"
#include "PointCloudOperator/PointCloudCommon.h"
#include "Settings/BusAPI.h"
#include "BaseTool.h"
#include "IO/IOConfig.h"
#include "ModuleBase/ThreadControl.h"
#include "ConfigOptions/ConfigOptions.h"
#include "ConfigOptions/MeshConfig.h"
#include "Common/DebugLogger.h"

namespace MainWidget {
	DialogPCLRadiusOutlierRemoval::DialogPCLRadiusOutlierRemoval(GUI::MainWindow *parent)
		: QFDialog(parent),
		_ui(new Ui::DialogPCLRadiusOutlierRemoval),
		_mw(parent),
		_selectdlg(new DialogSelectComponents(parent))
	{
		_ui->setupUi(this);
		_ui->geoSelectPoint->setToolTip(tr("Clicked Button Selected Components"));
		setWindowTitle(tr("Radius Outlier Removal"));
		_ui->listWidget->setContextMenuPolicy(Qt::CustomContextMenu);
		
		
		connect(_ui->geoSelectPoint, &QPushButton::clicked, [=]()
				{ _selectdlg->clearSelectItems(); _selectdlg->exec(); });
		connect(_selectdlg, SIGNAL(selectedComponentsSig(QList<MeshData::MeshSet *>)), this, SLOT(selectedComponentsSlot(QList<MeshData::MeshSet *>)));
		connect(_ui->listWidget, SIGNAL(customContextMenuRequested(const QPoint &)), this, SLOT(customContextMenuRequestedSlot(const QPoint &)));
		
	}

	DialogPCLRadiusOutlierRemoval::~DialogPCLRadiusOutlierRemoval()
	{
		delete _ui;
		_ui = NULL;
		delete _selectdlg;
		_selectdlg = NULL;
	}
	
	void DialogPCLRadiusOutlierRemoval::accept()
	{
		if (_components.size() == 0)
			return;

		QString componentIds, rotate, moveLocation, scale;
		for (auto component : _components)
			componentIds.append(QString(",%1").arg(component->getID()));
		componentIds.remove(0, 1);



		double RadiusSearch=_ui->RadiusSearch->value();
		double MinNeighborsInRadius=_ui->MinNeighborsInRadius->value();


		QString outfilename="filter";
		for (auto component : _components)
			outfilename.append(QString("_%1").arg(component->getName()));

		// 确定是否保存结果文件
		QMessageBox::StandardButton result=QMessageBox::critical(this, "info","save as result ?");
		QString filepath= JoinPath(Setting::BusAPI::instance()->getWorkingDir() ,outfilename+"_tmep.pcd");
		QString AbFileName;
		if(result==QMessageBox::StandardButton::Ok||result==QMessageBox::StandardButton::Yes){
			QStringList suffixlist = IO::IOConfigure::getPclExporters();
			if(suffixlist.isEmpty()) {
				QMessageBox::warning(this, tr("Warning"), tr("The MeshPlugin is not installed !"));
				return;
			}

			if(MeshData::MeshData::getInstance()->getKernalCount() == 0) {
				QMessageBox::warning(this, tr("Warning"), tr("No one has any grid!"));
				return;
			}

			QStringList meshsuffix = ConfigOption::ConfigOption::getInstance()
										 ->getMeshConfig()
										 ->getExportSuffix(ConfigOption::MeshDataType::PointCloud)
										 .split(";");
			QStringList list;

			for(QString s : meshsuffix) {
				for(int i = 0; i < suffixlist.size(); i++) {
					QString suffix = suffixlist.at(i);
					if(suffix.contains(s))
						list.append(suffix);
				}
			}

			std::sort(list.begin(), list.end());
			QString suffixes   = list.join(";;");
			QString	workDir = Setting::BusAPI::instance()->getWorkingDir();
			QFileDialog dlg(this, tr("Export Pcl"), workDir, suffixes);
			dlg.setAcceptMode(QFileDialog::AcceptSave);
			if(dlg.exec() != QFileDialog::FileName)
				return;

			QString aSuffix	  = dlg.selectedNameFilter();
			QString aFileName = dlg.selectedFiles().join(",");
			if(!(aFileName.isEmpty())){
				filepath=aFileName;

			}else{}

			AbFileName=filepath;
			QTextCodec *codec = QTextCodec::codecForName("GB18030");
			QByteArray ba = codec->fromUnicode(filepath);

			std::string outFileName=ba.data();

		}else{ // 不保存成点云数据

		}

		// 启动线程
		auto pclfilter = new WBFZ::PCLRadiusOutlierRemoval(
			AbFileName,WBFZ::PointCloudOperation::POINTCLOUD_FILTER,_mainWindow,componentIds, RadiusSearch,MinNeighborsInRadius);
		ModuleBase::ThreadControl* tc = new ModuleBase::ThreadControl(pclfilter);
		emit					   tc->threadStart(); // emit MSHwriter->start();



		QFDialog::accept();
	}

	void DialogPCLRadiusOutlierRemoval::selectedComponentsSlot(QList<MeshData::MeshSet *> components)
	{
		for (MeshData::MeshSet *set : components)
		{
			if (_components.contains(set))
				continue;
			_components.append(set);
			_ui->listWidget->addItem(set->getName());
		}
	}

	void DialogPCLRadiusOutlierRemoval::customContextMenuRequestedSlot(const QPoint &point)
	{
		QListWidgetItem *curItem = _ui->listWidget->itemAt(point);
		if (!curItem)
			return;

		QMenu *menu = new QMenu(this);
		QAction *deleteItem = new QAction(tr("delete this item"));
		menu->addAction(deleteItem);
		connect(menu, &QMenu::triggered, [=]()
				{ removeCurrentItem(curItem); });
		menu->exec(QCursor::pos());
	}

	void DialogPCLRadiusOutlierRemoval::removeCurrentItem(QListWidgetItem *curItem)
	{
		auto meshData = MeshData::MeshData::getInstance();
		auto meshSet = meshData->getMeshSetByName(curItem->text());
		if (!meshSet)
			return;
		_components.removeOne(meshSet);
		_ui->listWidget->removeItemWidget(curItem);
		delete curItem;
	}
	
	
} // namespace MainWidget



namespace WBFZ{
	WBFZ::PCLRadiusOutlierRemoval::PCLRadiusOutlierRemoval(const QString &fileName, WBFZ::PointCloudOperation operation,
																 GUI::MainWindow* mw, QString componentIds,
															  double RadiusSearch,double MinNeighborsInRadius)
		: PointCloudThreadBase(fileName, operation, mw)
		, _fileName(fileName)
		, _operation(operation)
		, _componentIds(componentIds)
		, _RadiusSearch(RadiusSearch)
		, _MinNeighborsInRadius(MinNeighborsInRadius)

	{

	}

	vtkDataSet* WBFZ::PCLRadiusOutlierRemoval::PCLRadiusOutlierRemovalAlg(QString componentIds, double RadiusSearch,
																				double MinNeighborsInRadius)
	{
		emit _mainwindow->printMessage(Common::Message::Normal,"PCLRadiusOutlierRemovalAlg");
		// 获取vtdataset
		QStringList	   qCompontIds	 = QString(componentIds).split(',');

		MeshData::MeshSet*	  meshSet	 = NULL;
		MeshData::MeshKernal* meshKernal = NULL;
		MeshData::MeshData*	  meshData	 = MeshData::MeshData::getInstance();
		QString				  kernalName, transformedName, setType, ids;

		// 筛选其中的点云数据
		// 创建 vtkCellDataToPointData 过滤器
		vtkSmartPointer<vtkGeometryFilter> cellToPointFilter = vtkSmartPointer<vtkGeometryFilter>::New();

		QString outfilename;
		for(QString compontId : qCompontIds) {
			meshSet = meshData->getMeshSetByID(compontId.toInt());
			DebugInfo("point count %d : %d ",compontId.toInt(),meshSet==nullptr);
			if(!meshSet)
				continue;
			outfilename=meshSet->getName();
			vtkPolyData* temppolyData=PointCloudOperator::PointCloudCommon::meshSetToVtkDataset(meshSet);
			cellToPointFilter->SetInputData(temppolyData);
			DebugInfo("point count %d : %d ",compontId.toInt(),temppolyData==nullptr);
		}

		// 执行过滤操作
		cellToPointFilter->Update();
		DebugInfo("cellToPointFilter ");
		// 获取过滤后的 vtkPolyData
		vtkPolyData* outpolyData = cellToPointFilter->GetOutput();
		DebugInfo("outpolyData ");



		pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_with_rgba(new pcl::PointCloud<pcl::PointXYZRGBA>);
		pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZRGBA>);
		pcl::io::vtkPolyDataToPointCloud(outpolyData,*cloud_with_rgba);


		// 创建滤波器对象
		pcl::RadiusOutlierRemoval<pcl::PointXYZRGBA> sor;
		sor.setInputCloud(cloud_with_rgba); //设置待滤波的点云
		sor.setRadiusSearch(RadiusSearch); //设置在进行统计时考虑查询点邻居点数，K个最近邻点
		sor.setMinNeighborsInRadius(MinNeighborsInRadius); //设置判断是否为离群点的阈值
		sor.filter(*cloud_filtered); //将滤波结果保存在cloud_filtered中

		// 转换处理结果
		vtkPolyData* polydata=nullptr;
		polydata=vtkPolyData::New(); // 创建新的指针，智能指针会释放
		pcl::io::pointCloudTovtkPolyData(*cloud_filtered,polydata);
		vtkDataSet* dataset=   vtkDataSet::SafeDownCast(polydata); // 默认完成 vtkpolydata --> vtkdataset
		size_t pointCount = dataset->GetNumberOfPoints();
		if(pointCount==0){
			return nullptr;
		}

		emit _mainwindow->printMessage(Common::Message::Normal,"PCLRadiusOutlierRemovalAlg successfully!! Point Count : "+QString::number(pointCount));
		outpolyData->Delete(); // 释放指针

		QString filepath=_fileName;

		// 加载文件
		QFileInfo info(filepath);
		QString name = info.fileName();
		QString path = info.filePath();
		QString suffix = info.suffix().toLower();
		QTextCodec *codec = QTextCodec::codecForName("GB18030");
		QByteArray ba = codec->fromUnicode(filepath);

		std::string outFileName=ba.data();
		if (suffix == "pcd")
		{
			pcl::io::savePCDFileBinary(outFileName,*cloud_filtered);
		}
		else if (suffix == "ply")
		{
			pcl::io::savePLYFileBinary(outFileName,*cloud_filtered);
		}
		else{}
		return dataset;
	}
	vtkDataSet* PCLRadiusOutlierRemoval::filter()
	{
		return PCLRadiusOutlierRemovalAlg( _componentIds,  _RadiusSearch,_MinNeighborsInRadius);
	}
	PCLRadiusOutlierRemoval::~PCLRadiusOutlierRemoval() {}

}