// Copyright (c) 2012  INRIA Sophia-Antipolis (France).
// All rights reserved.
//
// This file is part of CGAL (www.cgal.org).
//
// $URL: https://github.com/CGAL/cgal/blob/v6.1/Point_set_processing_3/include/CGAL/hierarchy_simplify_point_set.h $
// $Id: include/CGAL/hierarchy_simplify_point_set.h b26b07a1242 $
// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial
//
// Author(s) : Simon Giraudot, Pierre Alliez


#ifndef HIERARCHY_SIMPLIFY_POINT_SET_H
#define HIERARCHY_SIMPLIFY_POINT_SET_H

#include <CGAL/license/Point_set_processing_3.h>

#include <CGAL/disable_warnings.h>

#include <cmath>
#include <stack>

#include <CGAL/property_map.h>
#include <CGAL/basic.h>
#include <CGAL/Dimension.h>
#include <CGAL/Object.h>
#include <CGAL/centroid.h>
#include <CGAL/assertions.h>
#include <CGAL/Default_diagonalize_traits.h>
#include <CGAL/PCA_util.h>
#include <CGAL/squared_distance_3.h>
#include <CGAL/Iterator_range.h>
#include <functional>

#include <CGAL/Named_function_parameters.h>
#include <CGAL/boost/graph/named_params_helper.h>

namespace CGAL {


  /// \cond SKIP_IN_MANUAL
  namespace internal {

    template < typename InputIterator,
               typename PointMap,
               typename K >
    typename K::Point_3
    hsps_centroid(InputIterator begin,
                 InputIterator end,
                 PointMap& point_map,
                 const K&)
    {
      typedef typename K::Point_3 Point;
      typedef typename K::FT FT;

      CGAL_precondition(begin != end);

      FT x = (FT)0., y = (FT)0., z = (FT)0.;
      unsigned int nb_pts = 0;
      while(begin != end)
        {
          typename boost::property_traits<PointMap>::reference point =
            get(point_map, *begin);
          x += point.x ();  y += point.y ();  z += point.z ();
          ++ nb_pts;
          ++ begin;
        }
      return Point (x/nb_pts, y/nb_pts, z/nb_pts);
    }

    template < typename Input_type,
               typename PointMap,
               typename K >
    void
    hsc_terminate_cluster (std::list<Input_type>& cluster,
                           std::list<Input_type>& points_to_keep,
                           std::list<Input_type>& points_to_remove,
                           PointMap& point_map,
                           const typename K::Point_3& centroid,
                           const K&)
    {
      typedef typename std::list<Input_type>::iterator Iterator;
      typedef typename K::FT FT;

      FT dist_min = (std::numeric_limits<FT>::max)();

      typename std::list<Input_type>::iterator point_min;
      for (Iterator it = cluster.begin (); it != cluster.end (); ++ it)
        {
          FT dist = CGAL::squared_distance (get(point_map, *it), centroid);
          if (dist < dist_min)
            {
              dist_min = dist;
              point_min = it;
            }
        }

      points_to_keep.splice (points_to_keep.end (), cluster, point_min);
      points_to_remove.splice (points_to_remove.end (), cluster, cluster.begin (), cluster.end ());
    }




  } // namespace internal
  /// \endcond

  /**
     \ingroup PkgPointSetProcessing3Algorithms

     Recursively split the point set in smaller clusters until the
     clusters have fewer than `size` elements and until their variation
     factor is below `var_max`.

     This method modifies the order of input points so as to pack all remaining points first,
     and returns an iterator over the first point to remove (see erase-remove idiom).
     For this reason it should not be called on sorted containers.

     \pre `0 < maximum_variation <= 1/3`
     \pre `size > 0`

     \tparam PointRange is a model of `Range`. The value type of
     its iterator is the key type of the named parameter `point_map`.

     \param points input point range
     \param np an optional sequence of \ref bgl_namedparameters "Named Parameters" among the ones listed below

     \cgalNamedParamsBegin
       \cgalParamNBegin{point_map}
         \cgalParamDescription{a property map associating points to the elements of the point set `points`}
         \cgalParamType{a model of `ReadablePropertyMap` whose key type is the value type
                        of the iterator of `PointRange` and whose value type is `geom_traits::Point_3`}
         \cgalParamDefault{`CGAL::Identity_property_map<geom_traits::Point_3>`}
       \cgalParamNEnd

       \cgalParamNBegin{callback}
         \cgalParamDescription{a mechanism to get feedback on the advancement of the algorithm
                               while it's running and to interrupt it if needed}
         \cgalParamType{an instance of `std::function<bool(double)>`.}
         \cgalParamDefault{unused}
         \cgalParamExtra{It is called regularly when the
                         algorithm is running: the current advancement (between 0. and
                         1.) is passed as parameter. If it returns `true`, then the
                         algorithm continues its execution normally; if it returns
                         `false`, the algorithm is stopped and simplification stops with no guarantee on the output.}
         \cgalParamExtra{The callback will be copied and therefore needs to be lightweight.}
       \cgalParamNEnd

       \cgalParamNBegin{size}
         \cgalParamDescription{a value for cluster size}
         \cgalParamType{unsigned int}
         \cgalParamDefault{`10`}
       \cgalParamNEnd

       \cgalParamNBegin{maximum_variation}
         \cgalParamDescription{a value for maximum cluster variation}
         \cgalParamType{floating scalar value}
         \cgalParamDefault{`1/3`}
       \cgalParamNEnd

       \cgalParamNBegin{diagonalize_traits}
         \cgalParamDescription{the solver used for diagonalizing covariance matrices}
         \cgalParamType{a model of `DiagonalizeTraits`}
         \cgalParamDefault{If Eigen 3 (or greater) is available and `CGAL_EIGEN3_ENABLED` is defined
                           then an overload using `Eigen_diagonalize_traits` is provided.
                           Otherwise, the internal implementation `CGAL::Diagonalize_traits` is used.}
       \cgalParamNEnd

       \cgalParamNBegin{geom_traits}
         \cgalParamDescription{an instance of a geometric traits class}
         \cgalParamType{a model of `Kernel`}
         \cgalParamDefault{a \cgal Kernel deduced from the point type, using `CGAL::Kernel_traits`}
       \cgalParamNEnd
     \cgalNamedParamsEnd

     \return iterator over the first point to remove.
  */
  template <typename PointRange,
            typename NamedParameters = parameters::Default_named_parameters>
  typename PointRange::iterator
  hierarchy_simplify_point_set (PointRange& points,
                                const NamedParameters& np = parameters::default_values())
  {
    using parameters::choose_parameter;
    using parameters::get_parameter;

    // basic geometric types
    typedef Point_set_processing_3_np_helper<PointRange, NamedParameters> NP_helper;
    typedef typename NP_helper::Point_map PointMap;
    typedef typename NP_helper::Geom_traits Kernel;
    typedef typename GetDiagonalizeTraits<NamedParameters, double, 3>::type DiagonalizeTraits;

    typedef typename Kernel::Point_3 Point;
    typedef typename Kernel::Vector_3 Vector;
    typedef typename Kernel::FT FT;

    PointMap point_map = NP_helper::get_point_map(points, np);
    unsigned int size = choose_parameter(get_parameter(np, internal_np::size), 10);
    double var_max = choose_parameter(get_parameter(np, internal_np::maximum_variation), 1./3.);
    const std::function<bool(double)>& callback = choose_parameter(get_parameter(np, internal_np::callback),
                                                                   std::function<bool(double)>());

    typedef typename std::iterator_traits<typename PointRange::iterator>::value_type Input_type;

    // We define a cluster as a point set + its centroid (useful for
    // faster computations of centroids - to be implemented)
    typedef std::pair< std::list<Input_type>, Point > cluster;

    std::list<cluster> clusters_stack;
    typedef typename std::list<cluster>::iterator cluster_iterator;

    CGAL_precondition (points.begin() != points.end());
    CGAL_precondition (size > 0);
    CGAL_precondition (var_max > 0.0);

    // The first cluster is the whole input point set
    clusters_stack.push_front (cluster (std::list<Input_type>(), Point (0., 0., 0.)));
    std::copy (points.begin(), points.end(), std::back_inserter (clusters_stack.front ().first));

    clusters_stack.front ().second = internal::hsps_centroid (clusters_stack.front ().first.begin (),
                                                              clusters_stack.front ().first.end (),
                                                              point_map, Kernel());

    std::list<Input_type> points_to_keep;
    std::list<Input_type> points_to_remove;

    std::size_t nb_done = 0;

    while (!(clusters_stack.empty ()))
      {
        cluster_iterator current_cluster = clusters_stack.begin ();

        // If the cluster only has 1 element, we add it to the list of
        // output points
        if (current_cluster->first.size () == 1)
          {
            points_to_keep.splice (points_to_keep.end (), current_cluster->first,
                                   current_cluster->first.begin ());
            clusters_stack.pop_front ();
            ++ nb_done;
            continue;
          }

        // Compute the covariance matrix of the set
        std::array<double, 6> covariance = {{ 0., 0., 0., 0., 0., 0. }};

        for (typename std::list<Input_type>::iterator it = current_cluster->first.begin ();
             it != current_cluster->first.end (); ++ it)
          {
            const Point& point = get(point_map, *it);
            Vector d = point - current_cluster->second;
            covariance[0] += d.x () * d.x ();
            covariance[1] += d.x () * d.y ();
            covariance[2] += d.x () * d.z ();
            covariance[3] += d.y () * d.y ();
            covariance[4] += d.y () * d.z ();
            covariance[5] += d.z () * d.z ();
          }

        std::array<double, 3> eigenvalues = {{ 0., 0., 0. }};
        std::array<double, 9> eigenvectors = {{ 0., 0., 0.,
                                              0., 0., 0.,
                                              0., 0., 0. }};
        // Linear algebra = get eigenvalues and eigenvectors for
        // PCA-like analysis
        DiagonalizeTraits::diagonalize_selfadjoint_covariance_matrix
          (covariance, eigenvalues, eigenvectors);

        // Variation of the set defined as lambda_min / (lambda_0 + lambda_1 + lambda_2)
        double var = eigenvalues[0] / (eigenvalues[0] + eigenvalues[1] + eigenvalues[2]);

        // Split the set if size OR variance of the cluster is too large
        if (current_cluster->first.size () > size || var > var_max)
          {
            clusters_stack.push_front (cluster (std::list<Input_type>(), Point (0., 0., 0.)));
            cluster_iterator negative_side = clusters_stack.begin ();
            // positive_side is built directly from current_cluster

            // The plane which splits the point set into 2 point sets:
            //  * Normal to the eigenvector with highest eigenvalue
            //  * Passes through the centroid of the set
            Vector v (FT(eigenvectors.at(6)), FT(eigenvectors.at(7)), FT(eigenvectors.at(8)));

            std::size_t current_cluster_size = 0;
            typename std::list<Input_type>::iterator it = current_cluster->first.begin ();
            while (it != current_cluster->first.end ())
              {
                typename std::list<Input_type>::iterator current = it ++;
                const Point& point = get(point_map, *current);

                // Test if point is on negative side of plane and
                // transfer it to the negative_side cluster if it is
                if (Vector (current_cluster->second, point) * v < 0)
                  negative_side->first.splice (negative_side->first.end (),
                                               current_cluster->first, current);
                ++ current_cluster_size;
              }

            // If one of the clusters is empty, stop to avoid infinite
            // loop and keep the non-empty one
            if (current_cluster->first.empty () || negative_side->first.empty ())
              {
                cluster_iterator nonempty = (current_cluster->first.empty ()
                                             ? negative_side : current_cluster);

                nb_done += nonempty->first.size();
                // Compute the centroid
                nonempty->second = internal::hsps_centroid (nonempty->first.begin (),
                                                            nonempty->first.end (),
                                                            point_map, Kernel());

                internal::hsc_terminate_cluster (nonempty->first,
                                                 points_to_keep,
                                                 points_to_remove,
                                                 point_map,
                                                 nonempty->second,
                                                 Kernel ());

                clusters_stack.pop_front ();
                clusters_stack.pop_front ();
              }
            else
              {
                // Save old centroid for faster computation
                Point old_centroid = current_cluster->second;

                // Compute the first centroid
                current_cluster->second = internal::hsps_centroid (current_cluster->first.begin (),
                                                                   current_cluster->first.end (),
                                                                   point_map, Kernel());

                // The second centroid can be computed with the first and
                // the old ones :
                // centroid_neg = (n_total * old_centroid - n_pos * first_centroid)
                //                 / n_neg;
                negative_side->second = Point ((current_cluster_size * old_centroid.x ()
                                                - current_cluster->first.size () * current_cluster->second.x ())
                                               / negative_side->first.size (),
                                               (current_cluster_size * old_centroid.y ()
                                                - current_cluster->first.size () * current_cluster->second.y ())
                                               / negative_side->first.size (),
                                               (current_cluster_size * old_centroid.z ()
                                                - current_cluster->first.size () * current_cluster->second.z ())
                                               / negative_side->first.size ());
              }
          }
        // If the size/variance are small enough, add the centroid as
        // and output point
        else
          {
            nb_done += current_cluster->first.size();
            internal::hsc_terminate_cluster (current_cluster->first,
                                             points_to_keep,
                                             points_to_remove,
                                             point_map,
                                             current_cluster->second,
                                             Kernel ());
            clusters_stack.pop_front ();
          }

        if (callback && !callback (nb_done / double (points.size())))
          break;
      }

    if (callback)
      callback (1.);

    typename PointRange::iterator first_point_to_remove =
      std::copy (points_to_keep.begin(), points_to_keep.end(), points.begin());
    std::copy (points_to_remove.begin(), points_to_remove.end(), first_point_to_remove);

    return first_point_to_remove;

  }

} // namespace CGAL

#include <CGAL/enable_warnings.h>

#endif // HIERARCHY_SIMPLIFY_POINT_SET_H

