/*
 * Copyright (C) 2005-2022 Centre National d'Etudes Spatiales (CNES)
 *
 * This file is part of Orfeo Toolbox
 *
 *     https://www.orfeo-toolbox.org/
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef otbDisparityMapToDEMFilter_h
#define otbDisparityMapToDEMFilter_h

#include "itkImageToImageFilter.h"
#include "otbGenericRSTransform.h"
#include "itkImageRegionSplitter.h"
#include "otbVectorImage.h"
#include "otbImage.h"

namespace otb
{

/** \class DisparityMapToDEMFilter
 *  \brief Project an input disparity map into a regular DEM
 *
 *  This filter uses an input disparity map (horizontal and vertical) to produce a DEM with a regular sampling
 *  in the chosen map projection system. The elevation is computed from the triangulation of the "left-right" pairs
 *  of pixels matched. When several elevations are possible on a DEM cell, the highest is kept. Note : disparity maps
 *  and DEM are expected to be of scalar image type.
 *
 *  The inputs are:
 *    - the horizontal and vertical disparity maps (SetHorizontalDisparityMapInput, SetVerticalDisparityMapInput)
 *    - the original image pair (in sensor geometry) (SetLeftInput, SetRightInput)
 *    - the deformation grids of the epipolar geometry (SetLeftEpipolarGridInput, SetRightEpipolarGridInput)
 *    - the mask associated to the input disparity maps (SetDisparityMaskInput)
 *    [- the DEM map projection system]
 *
 *  The outputs are:
 *    - the DEM (GetDEMOutput)
 *
 *  \sa FineRegistrationImageFilter
 *  \sa StereorectificationDisplacementFieldSource
 *  \sa SubPixelDisparityImageFilter
 *  \sa PixelWiseBlockMatchingImageFilter
 *
 *  \ingroup Streamed
 *  \ingroup Threaded
 *
 *
 * \ingroup OTBDisparityMap
 */
template <class TDisparityImage, class TInputImage, class TOutputDEMImage = TDisparityImage, class TEpipolarGridImage = otb::VectorImage<float, 2>,
          class TMaskImage = otb::Image<unsigned char>>
class ITK_EXPORT DisparityMapToDEMFilter : public itk::ImageToImageFilter<TDisparityImage, TOutputDEMImage>
{
public:
  /** Standard class typedef */
  typedef DisparityMapToDEMFilter Self;
  typedef itk::ImageToImageFilter<TDisparityImage, TOutputDEMImage> Superclass;
  typedef itk::SmartPointer<Self>       Pointer;
  typedef itk::SmartPointer<const Self> ConstPointer;

  /** Method for creation through the object factory. */
  itkNewMacro(Self);

  /** Run-time type information (and related methods). */
  itkTypeMacro(DisparityMapToDEMFilter, ImageToImageFilter);

  /** Useful typedefs */
  typedef TDisparityImage    DisparityMapType;
  typedef TInputImage        SensorImageType;
  typedef TOutputDEMImage    DEMImageType;
  typedef TEpipolarGridImage GridImageType;
  typedef TMaskImage         MaskImageType;

  typedef typename DEMImageType::RegionType RegionType;
  typedef typename DEMImageType::PixelType  DEMPixelType;

  typedef itk::ImageRegionSplitter<2> SplitterType;

  // 3D RS transform
  // TODO: Allow tuning precision (i.e. double or float)
  typedef otb::GenericRSTransform<double, 3, 3> RSTransformType;
  // typedef typename RSTransformType::Pointer         RSTransformPointerType;

  // 3D points
  typedef typename RSTransformType::InputPointType TDPointType;

  /** Set horizontal disparity map input */
  void SetHorizontalDisparityMapInput(const TDisparityImage* hmap);

  /** Set vertical disparity map input */
  void SetVerticalDisparityMapInput(const TDisparityImage* vmap);

  /** Set left input */
  void SetLeftInput(const TInputImage* image);

  /** Set right input */
  void SetRightInput(const TInputImage* image);

  /** Set left epipolar grid (deformation grid from sensor image to epipolar space, regular in epipolar space)*/
  void SetLeftEpipolarGridInput(const TEpipolarGridImage* grid);

  /** Set right epipolar grid (deformation grid from sensor image to epipolar space, regular in epipolar space)*/
  void SetRightEpipolarGridInput(const TEpipolarGridImage* grid);

  /** Set mask associated to disparity maps (optional, pixels with a null mask value are ignored) */
  void SetDisparityMaskInput(const TMaskImage* mask);

  /** Get the inputs */
  const TDisparityImage*    GetHorizontalDisparityMapInput() const;
  const TDisparityImage*    GetVerticalDisparityMapInput() const;
  const TInputImage*        GetLeftInput() const;
  const TInputImage*        GetRightInput() const;
  const TEpipolarGridImage* GetLeftEpipolarGridInput() const;
  const TEpipolarGridImage* GetRightEpipolarGridInput() const;
  const TMaskImage*         GetDisparityMaskInput() const;

  /** Get DEM output*/
  const TOutputDEMImage* GetDEMOutput() const;
  TOutputDEMImage*       GetDEMOutput();

  /** Set/Get macro for minimum elevation */
  itkSetMacro(ElevationMin, double);
  itkGetConstReferenceMacro(ElevationMin, double);

  /** Set/Get macro for maximum elevation */
  itkSetMacro(ElevationMax, double);
  itkGetConstReferenceMacro(ElevationMax, double);

  /** Set/Get macro for DEM grid step */
  itkSetMacro(DEMGridStep, double);
  itkGetConstReferenceMacro(DEMGridStep, double);

protected:
  /** Constructor */
  DisparityMapToDEMFilter();

  /** Destructor */
  ~DisparityMapToDEMFilter() override;

  /** Generate output information */
  void GenerateOutputInformation() override;

  /** Generate input requested region */
  void GenerateInputRequestedRegion() override;

  /** Before threaded generate data */
  void BeforeThreadedGenerateData() override;

  /** Threaded generate data */
  void ThreadedGenerateData(const RegionType& outputRegionForThread, itk::ThreadIdType threadId) override;

  /** After threaded generate data : sum up temporary DEMs */
  void AfterThreadedGenerateData() override;

  /** Override VerifyInputInformation() since this filter's inputs do
    * not need to occupy the same physical space.
    *
    * \sa ProcessObject::VerifyInputInformation
    */
  void VerifyInputInformation() override
  {
  }


private:
  DisparityMapToDEMFilter(const Self&) = delete;
  void operator=(const Self&) = delete;

  /** Minimum elevation of the DEM in meters */
  double m_ElevationMin;

  /** Maximum elevation of the DEM in meters */
  double m_ElevationMax;

  /** DEM grid step (in meters) */
  double m_DEMGridStep;

  /** Region splitter for input disparity maps */
  SplitterType::Pointer m_InputSplitter;

  /** Number of splits used for input multithreading */
  unsigned int m_UsedInputSplits;

  /** Temporary DEMs for mutlithreading */
  std::vector<typename DEMImageType::Pointer> m_TempDEMRegions;

  /** Left sensor image transform */
  RSTransformType::Pointer m_LeftToGroundTransform;

  /** Right sensor image transform */
  RSTransformType::Pointer m_RightToGroundTransform;
};
} // end namespace otb

#ifndef OTB_MANUAL_INSTANTIATION
#include "otbDisparityMapToDEMFilter.hxx"
#endif

#endif
