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#pragma once

#include <limits>

#include <pcl/types.h>
#include <pcl/point_types.h> // for PointXY
#include <Eigen/Core> // for VectorXf

/**
  * \file pcl/common/distances.h
  * Define standard C methods to do distance calculations
  * \ingroup common
  */

/*@{*/
namespace pcl
{
  template <typename PointT> class PointCloud;

  /** \brief Get the shortest 3D segment between two 3D lines
    * \param line_a the coefficients of the first line (point, direction)
    * \param line_b the coefficients of the second line (point, direction)
    * \param pt1_seg the first point on the line segment
    * \param pt2_seg the second point on the line segment
    * \ingroup common
    */
  PCL_EXPORTS void
  lineToLineSegment (const Eigen::VectorXf &line_a, const Eigen::VectorXf &line_b, 
                     Eigen::Vector4f &pt1_seg, Eigen::Vector4f &pt2_seg);

  /** \brief Get the square distance from a point to a line (represented by a point and a direction)
    * \param pt a point
    * \param line_pt a point on the line (make sure that line_pt[3] = 0 as there are no internal checks!)
    * \param line_dir the line direction
    * \ingroup common
    */
  double inline
  sqrPointToLineDistance (const Eigen::Vector4f &pt, const Eigen::Vector4f &line_pt, const Eigen::Vector4f &line_dir)
  {
    // Calculate the distance from the point to the line
    // D = ||(P2-P1) x (P1-P0)|| / ||P2-P1|| = norm (cross (p2-p1, p1-p0)) / norm(p2-p1)
    return (line_dir.cross3 (line_pt - pt)).squaredNorm () / line_dir.squaredNorm ();
  }

  /** \brief Get the square distance from a point to a line (represented by a point and a direction)
    * \note This one is useful if one has to compute many distances to a fixed line, so the vector length can be pre-computed
    * \param pt a point
    * \param line_pt a point on the line (make sure that line_pt[3] = 0 as there are no internal checks!)
    * \param line_dir the line direction
    * \param sqr_length the squared norm of the line direction
    * \ingroup common
    */
  double inline
  sqrPointToLineDistance (const Eigen::Vector4f &pt, const Eigen::Vector4f &line_pt, const Eigen::Vector4f &line_dir, const double sqr_length)
  {
    // Calculate the distance from the point to the line
    // D = ||(P2-P1) x (P1-P0)|| / ||P2-P1|| = norm (cross (p2-p1, p1-p0)) / norm(p2-p1)
    return (line_dir.cross3 (line_pt - pt)).squaredNorm () / sqr_length;
  }

  /** \brief Obtain the maximum segment in a given set of points, and return the minimum and maximum points.
    * \param[in] cloud the point cloud dataset
    * \param[out] pmin the coordinates of the "minimum" point in \a cloud (one end of the segment)
    * \param[out] pmax the coordinates of the "maximum" point in \a cloud (the other end of the segment)
    * \return the length of segment length
    * \ingroup common
    */
  template <typename PointT> double inline
  getMaxSegment (const pcl::PointCloud<PointT> &cloud, 
                 PointT &pmin, PointT &pmax)
  {
    double max_dist = std::numeric_limits<double>::min ();
    const auto token = std::numeric_limits<std::size_t>::max();
    std::size_t i_min = token, i_max = token;

    for (std::size_t i = 0; i < cloud.size (); ++i)
    {
      for (std::size_t j = i; j < cloud.size (); ++j)
      {
        // Compute the distance 
        double dist = (cloud[i].getVector4fMap () - 
                       cloud[j].getVector4fMap ()).squaredNorm ();
        if (dist <= max_dist)
          continue;

        max_dist = dist;
        i_min = i;
        i_max = j;
      }
    }

    if (i_min == token || i_max == token)
      return (max_dist = std::numeric_limits<double>::min ());

    pmin = cloud[i_min];
    pmax = cloud[i_max];
    return (std::sqrt (max_dist));
  }
 
  /** \brief Obtain the maximum segment in a given set of points, and return the minimum and maximum points.
    * \param[in] cloud the point cloud dataset
    * \param[in] indices a set of point indices to use from \a cloud
    * \param[out] pmin the coordinates of the "minimum" point in \a cloud (one end of the segment)
    * \param[out] pmax the coordinates of the "maximum" point in \a cloud (the other end of the segment)
    * \return the length of segment length
    * \ingroup common
    */
  template <typename PointT> double inline
  getMaxSegment (const pcl::PointCloud<PointT> &cloud, const Indices &indices,
                 PointT &pmin, PointT &pmax)
  {
    double max_dist = std::numeric_limits<double>::min ();
    const auto token = std::numeric_limits<std::size_t>::max();
    std::size_t i_min = token, i_max = token;

    for (std::size_t i = 0; i < indices.size (); ++i)
    {
      for (std::size_t j = i; j < indices.size (); ++j)
      {
        // Compute the distance 
        double dist = (cloud[indices[i]].getVector4fMap () - 
                       cloud[indices[j]].getVector4fMap ()).squaredNorm ();
        if (dist <= max_dist)
          continue;

        max_dist = dist;
        i_min = i;
        i_max = j;
      }
    }

    if (i_min == token || i_max == token)
      return (max_dist = std::numeric_limits<double>::min ());

    pmin = cloud[indices[i_min]];
    pmax = cloud[indices[i_max]];
    return (std::sqrt (max_dist));
  }

  /** \brief Calculate the squared euclidean distance between the two given points.
    * \param[in] p1 the first point
    * \param[in] p2 the second point
    */
  template<typename PointType1, typename PointType2> inline float
  squaredEuclideanDistance (const PointType1& p1, const PointType2& p2)
  {
    float diff_x = p2.x - p1.x, diff_y = p2.y - p1.y, diff_z = p2.z - p1.z;
    return (diff_x*diff_x + diff_y*diff_y + diff_z*diff_z);
  }

  /** \brief Calculate the squared euclidean distance between the two given points.
    * \param[in] p1 the first point
    * \param[in] p2 the second point
    */
  template<> inline float
  squaredEuclideanDistance (const PointXY& p1, const PointXY& p2)
  {
    float diff_x = p2.x - p1.x, diff_y = p2.y - p1.y;
    return (diff_x*diff_x + diff_y*diff_y);
  }

   /** \brief Calculate the euclidean distance between the two given points.
    * \param[in] p1 the first point
    * \param[in] p2 the second point
    */
  template<typename PointType1, typename PointType2> inline float
  euclideanDistance (const PointType1& p1, const PointType2& p2)
  {
    return (std::sqrt (squaredEuclideanDistance (p1, p2)));
  }
}