#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/IO/read_points.h>
#include <CGAL/property_map.h>
#include <CGAL/Surface_mesh.h>
#include <CGAL/Shape_detection/Efficient_RANSAC.h>
#include <CGAL/Polygonal_surface_reconstruction.h>

#ifdef CGAL_USE_SCIP  // defined (or not) by CMake scripts, do not define by hand

#include <CGAL/SCIP_mixed_integer_program_traits.h>
typedef CGAL::SCIP_mixed_integer_program_traits<double>                        MIP_Solver;

#elif defined(CGAL_USE_GLPK)  // defined (or not) by CMake scripts, do not define by hand

#include <CGAL/GLPK_mixed_integer_program_traits.h>
typedef CGAL::GLPK_mixed_integer_program_traits<double>                        MIP_Solver;

#endif


#if defined(CGAL_USE_GLPK) || defined(CGAL_USE_SCIP)

#include <CGAL/Timer.h>

#include <fstream>


typedef CGAL::Exact_predicates_inexact_constructions_kernel                        Kernel;

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

// Point with normal, and plane index
typedef boost::tuple<Point, Vector, int>                                                        PNI;
typedef std::vector<PNI>                                                                                        Point_vector;
typedef CGAL::Nth_of_tuple_property_map<0, PNI>                                                Point_map;
typedef CGAL::Nth_of_tuple_property_map<1, PNI>                                                Normal_map;
typedef CGAL::Nth_of_tuple_property_map<2, PNI>                                                Plane_index_map;

typedef CGAL::Shape_detection::Efficient_RANSAC_traits<Kernel, Point_vector, Point_map, Normal_map>     Traits;

typedef CGAL::Shape_detection::Efficient_RANSAC<Traits>             Efficient_ransac;
typedef CGAL::Shape_detection::Plane<Traits>                                                Plane;
typedef CGAL::Shape_detection::Point_to_shape_index_map<Traits>     Point_to_shape_index_map;

typedef        CGAL::Polygonal_surface_reconstruction<Kernel>                                Polygonal_surface_reconstruction;
typedef CGAL::Surface_mesh<Point>                                                                        Surface_mesh;

/*
* This example first extracts planes from the input point cloud
* (using RANSAC with default parameters) and then reconstructs
* the surface model from the planes.
*/

int main(int argc, char* argv[])
{
  Point_vector points;

  // Loads point set from a file.
  const std::string input_file = (argc > 1) ? argv[1] : CGAL::data_file_path("points_3/cube.pwn");
  std::ifstream input_stream(input_file.c_str());
  if (input_stream.fail()) {
    std::cerr << "failed open file \'" <<input_file << "\'" << std::endl;
    return EXIT_FAILURE;
  }
  input_stream.close();
  std::cout << "Loading point cloud: " << input_file << "...";

  CGAL::Timer t;
  t.start();
  if (!CGAL::IO::read_points(input_file.c_str(), std::back_inserter(points),
                             CGAL::parameters::point_map(Point_map()).normal_map(Normal_map())))
  {
    std::cerr << "Error: cannot read file " << input_file << std::endl;
    return EXIT_FAILURE;
  }
  else
    std::cout << " Done. " << points.size() << " points. Time: " << t.time() << " sec." << std::endl;

  // Shape detection
  Efficient_ransac ransac;
  ransac.set_input(points);
  ransac.add_shape_factory<Plane>();

  std::cout << "Extracting planes...";
  t.reset();
  ransac.detect();

  Efficient_ransac::Plane_range planes = ransac.planes();
  std::size_t num_planes = planes.size();

  std::cout << " Done. " << num_planes << " planes extracted. Time: " << t.time() << " sec." << std::endl;

  // Stores the plane index of each point as the third element of the tuple.
  Point_to_shape_index_map shape_index_map(points, planes);
  for (std::size_t i = 0; i < points.size(); ++i) {
    // Uses the get function from the property map that accesses the 3rd element of the tuple.
    int plane_index = get(shape_index_map, i);
    points[i].get<2>() = plane_index;
  }

  //////////////////////////////////////////////////////////////////////////

  std::cout << "Generating candidate faces...";
  t.reset();

  Polygonal_surface_reconstruction algo(
    points,
    Point_map(),
    Normal_map(),
    Plane_index_map()
  );

  std::cout << " Done. Time: " << t.time() << " sec." << std::endl;

  //////////////////////////////////////////////////////////////////////////

  Surface_mesh model;

  std::cout << "Reconstructing...";
  t.reset();

  if (!algo.reconstruct<MIP_Solver>(model)) {
    std::cerr << " Failed: " << algo.error_message() << std::endl;
    return EXIT_FAILURE;
  }

  const std::string& output_file("without_input_planes_result.off");
  if (CGAL::IO::write_OFF(output_file, model))
    std::cout << " Done. Saved to " << output_file << ". Time: " << t.time() << " sec." << std::endl;
  else {
    std::cerr << " Failed saving file." << std::endl;
    return EXIT_FAILURE;
  }

  //////////////////////////////////////////////////////////////////////////

  // Also stores the candidate faces as a surface mesh to a file
  Surface_mesh candidate_faces;
  algo.output_candidate_faces(candidate_faces);
  const std::string& candidate_faces_file("without_input_planes_cube_candidate_faces.off");
  std::ofstream candidate_stream(candidate_faces_file.c_str());
  if (CGAL::IO::write_OFF(candidate_stream, candidate_faces))
    std::cout << "Candidate faces saved to " << candidate_faces_file << "." << std::endl;

  return EXIT_SUCCESS;
}


#else

int main(int, char**)
{
    std::cerr << "This test requires either GLPK or SCIP.\n";
    return EXIT_SUCCESS;
}

#endif  // defined(CGAL_USE_GLPK) || defined(CGAL_USE_SCIP)
