// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
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// Copyright (c) 2018 www.open3d.org
//
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#include <json/json.h>
#include <cstdio>

#include "Open3D/Geometry/Octree.h"
#include "Open3D/Geometry/PointCloud.h"
#include "Open3D/IO/ClassIO/OctreeIO.h"
#include "Open3D/IO/ClassIO/PointCloudIO.h"
#include "Open3D/Utility/IJsonConvertible.h"
#include "TestUtility/UnitTest.h"

namespace open3d {
namespace unit_test {

void WriteReadAndAssertEqual(const geometry::Octree& src_octree,
                             bool delete_temp = true) {
    // Write to file
    std::string file_name = std::string(TEST_DATA_DIR) + "/temp_octree.json";
    EXPECT_TRUE(io::WriteOctree(file_name, src_octree));

    // Read from file
    geometry::Octree dst_octree;
    EXPECT_TRUE(io::ReadOctree(file_name, dst_octree));
    EXPECT_TRUE(src_octree == dst_octree);
    if (delete_temp) {
        EXPECT_EQ(std::remove(file_name.c_str()), 0);
    }
}

TEST(OctreeIO, EmptyTree) {
    geometry::Octree octree(10);
    ExpectEQ(octree.origin_, Eigen::Vector3d(0, 0, 0));
    EXPECT_EQ(octree.size_, 0);

    WriteReadAndAssertEqual(octree);
}

TEST(OctreeIO, ZeroDepth) {
    geometry::Octree octree(0, Eigen::Vector3d(-1, -1, -1), 2);
    Eigen::Vector3d point(0, 0, 0);
    Eigen::Vector3d color(0, 0.1, 0.2);
    octree.InsertPoint(point, geometry::OctreeColorLeafNode::GetInitFunction(),
                       geometry::OctreeColorLeafNode::GetUpdateFunction(color));

    WriteReadAndAssertEqual(octree);
}

TEST(OctreeIO, JsonFileIOFragment) {
    // Create octree
    geometry::PointCloud pcd;
    io::ReadPointCloud(std::string(TEST_DATA_DIR) + "/fragment.ply", pcd);
    size_t max_depth = 6;
    geometry::Octree octree(max_depth);
    octree.ConvertFromPointCloud(pcd, 0.01);

    WriteReadAndAssertEqual(octree);
}

TEST(OctreeIO, JsonFileIOSevenCubes) {
    // Build octree
    std::vector<Eigen::Vector3d> points{
            Eigen::Vector3d(0.5, 0.5, 0.5), Eigen::Vector3d(1.5, 0.5, 0.5),
            Eigen::Vector3d(0.5, 1.5, 0.5), Eigen::Vector3d(1.5, 1.5, 0.5),
            Eigen::Vector3d(0.5, 0.5, 1.5), Eigen::Vector3d(1.5, 0.5, 1.5),
            Eigen::Vector3d(0.5, 1.5, 1.5)};
    std::vector<Eigen::Vector3d> colors{
            Eigen::Vector3d(0.0, 0.0, 0.0),  Eigen::Vector3d(0.25, 0.0, 0.0),
            Eigen::Vector3d(0.0, 0.25, 0.0), Eigen::Vector3d(0.25, 0.25, 0.0),
            Eigen::Vector3d(0.0, 0.0, 0.25), Eigen::Vector3d(0.25, 0.0, 0.25),
            Eigen::Vector3d(0.0, 0.25, 0.25)};
    geometry::Octree octree(1, Eigen::Vector3d(0, 0, 0), 2);
    for (size_t i = 0; i < points.size(); ++i) {
        octree.InsertPoint(
                points[i], geometry::OctreeColorLeafNode::GetInitFunction(),
                geometry::OctreeColorLeafNode::GetUpdateFunction(colors[i]));
    }

    WriteReadAndAssertEqual(octree);
}

}  // namespace unit_test
}  // namespace open3d