/////////////////////////////////////////////////////////////////////////////// 
// Copyright (C) 2002-2025, Open Design Alliance (the "Alliance"). 
// All rights reserved. 
// 
// This software and its documentation and related materials are owned by 
// the Alliance. The software may only be incorporated into application 
// programs owned by members of the Alliance, subject to a signed 
// Membership Agreement and Supplemental Software License Agreement with the
// Alliance. The structure and organization of this software are the valuable  
// trade secrets of the Alliance and its suppliers. The software is also 
// protected by copyright law and international treaty provisions. Application  
// programs incorporating this software must include the following statement 
// with their copyright notices:
//   
//   This application incorporates Open Design Alliance software pursuant to a license 
//   agreement with Open Design Alliance.
//   Open Design Alliance Copyright (C) 2002-2025 by Open Design Alliance. 
//   All rights reserved.
//
// By use of this software, its documentation or related materials, you 
// acknowledge and accept the above terms.
///////////////////////////////////////////////////////////////////////////////

#include "OdaCommon.h"
#include "StaticRxObject.h"
#include "ExSystemServices.h"
#include "DynamicLinker.h"
#include "diagnostics.h"
#include "RxDynamicModule.h"

#include "RcsFileServices/RxRcsFileServices.h"

#define STL_USING_IOSTREAM
#include "OdaSTL.h"
#define  STD(a)  std:: a

#ifdef OD_HAVE_CONSOLE_H_FILE
#include <console.h>
#endif
#include "ExPrintConsole.h"

#ifndef _TOOLKIT_IN_DLL_
  ODRX_DECLARE_STATIC_MODULE_ENTRY_POINT(RcsFileServicesModule);

  ODRX_BEGIN_STATIC_MODULE_MAP()
    ODRX_DEFINE_STATIC_APPMODULE(RX_RCS_FILE_SERVICES, RcsFileServicesModule)
  ODRX_END_STATIC_MODULE_MAP()
#endif

static const char cUsage[] =
{
  "RcpPointCloudProjectWriteEx sample program. Copyright (C) " TD_COPYRIGHT_START_YEAR_S  TD_COPYRIGHT_END_S "\n"
  "Usage: RcpPointCloudProjectWriteEx <outputRcpFilePath>\n"
  "\nPress ENTER to continue...\n"
};

#if defined(OD_USE_WMAIN)
int wmain(int argc, wchar_t* argv[])
#else
int main(int argc, char* argv[])
#endif
{
#ifdef OD_HAVE_CCOMMAND_FUNC
  argc = ccommand(&argv);
#endif

  /**********************************************************************/
  /* Verify the argument count and display an error message as required */
  /**********************************************************************/
  if (argc < 2)
  {
    STD(cout) << cUsage;
    STD(cin).get();
    return 1;
  }

#ifndef _TOOLKIT_IN_DLL_
  ODRX_INIT_STATIC_MODULE_MAP();
#endif

  /**********************************************************************/
  /* Initialize Runtime Extension environment                           */
  /**********************************************************************/
  OdStaticRxObject<ExSystemServices> svcs;
  odrxInitialize(&svcs);

  OdString filePath(argv[1]);

  try
  {
    OdRxRcsFileServicesPtr pModule = odrxDynamicLinker()->loadModule("RcsFileServices");

    OdRcpFileWriterPtr pWriter = pModule->getRcpFileWriter();
    
    //Add first scan description:
    {
      OdPointCloudScanDatabasePtr pScanDb = pModule->readRcsFile(OD_T("bunny1.rcs"));

      OdRcsFileDescriptor scanDesc1;

      scanDesc1.m_scanId = pScanDb->getScanId();
      
      scanDesc1.m_translation = pScanDb->getTranslation();

      //modify rotation:
      scanDesc1.m_rotation = OdGeVector3d(270., 180, 90.);
      
      scanDesc1.m_scale = pScanDb->getScale();

      scanDesc1.m_visible = true;

      scanDesc1.m_scanTitle = OD_T("Bunny 1");
      
      scanDesc1.m_relativePath = OD_T("./bunny1.rcs");

      scanDesc1.m_numPoints = pScanDb->getTotalAmountOfPoints();

      scanDesc1.m_hasRGB = pScanDb->hasRGB();
      scanDesc1.m_hasNormals = pScanDb->hasNormals();
      scanDesc1.m_hasIntensity = pScanDb->hasIntensity();

      scanDesc1.m_normalizeIntensity = pScanDb->getNormalizeIntensity();

      scanDesc1.m_rangeImageWidth = pScanDb->getRangeImageWidth();
      scanDesc1.m_rangeImageHeight = pScanDb->getRangeImageHeight();

      scanDesc1.m_isLidarData = pScanDb->isLidarData();

      //push scan descriptor to project:
      pWriter->addScan(scanDesc1);
    }

    //Add second scan description:
    {
      OdPointCloudScanDatabasePtr pScanDb = pModule->readRcsFile(OD_T("bunny2.rcs"));

      OdRcsFileDescriptor scanDesc2;

      scanDesc2.m_scanId = pScanDb->getScanId();

      //Add additional translation to the second scan:
      OdGeVector3d additionalTranslation(0.3, 0., 0.);

      scanDesc2.m_translation = pScanDb->getTranslation() + additionalTranslation;

      //modify rotation:
      scanDesc2.m_rotation = OdGeVector3d(270., 180, 90.);

      scanDesc2.m_scale = pScanDb->getScale();

      scanDesc2.m_visible = true;

      scanDesc2.m_scanTitle = OD_T("Bunny 2");

      scanDesc2.m_relativePath = OD_T("./bunny2.rcs");

      scanDesc2.m_numPoints = pScanDb->getTotalAmountOfPoints();

      scanDesc2.m_hasRGB = pScanDb->hasRGB();
      scanDesc2.m_hasNormals = pScanDb->hasNormals();
      scanDesc2.m_hasIntensity = pScanDb->hasIntensity();

      scanDesc2.m_normalizeIntensity = pScanDb->getNormalizeIntensity();

      scanDesc2.m_rangeImageWidth = pScanDb->getRangeImageWidth();
      scanDesc2.m_rangeImageHeight = pScanDb->getRangeImageHeight();

      scanDesc2.m_isLidarData = pScanDb->isLidarData();

      //push scan descriptor to project:
      pWriter->addScan(scanDesc2);
    }
    
    //Set data of active camera:
    OdRcpAutoCamCamera camera;
    camera.m_eye = OdGeVector3d(-0.300025769877978, -0.590396242024402, 0.310517609815137);//camera position
    camera.m_center = OdGeVector3d(-0.0482116817347668, -0.0761052302325277, 0.0733974367678163);//camera target
    camera.m_up = OdGeVector3d(0.168241886968496, 0.343607821598899, 0.923920089837503);//up vector

    pWriter->setAutoCamCamera(camera);

    //Set data of home camera (default camera position for the project):
    OdRcpAutoCamHomeCamera homeCamera;
    homeCamera.m_eye = OdGeVector3d(-0.151453842572123, -0.0239018230436232, 0.0972836288698147);//camera position
    homeCamera.m_center = OdGeVector3d(-0.0289571610769357, 0.0985948584515637, -0.0252130526253721);//camera target
    homeCamera.m_up = OdGeVector3d(0.408248290463863, 0.408248290463863, 0.816496580927726);//up vector

    pWriter->setAutoCamHomeCamera(homeCamera);

    //Write result .rcp file:
    pWriter->writeFile(filePath);

    odrxDynamicLinker()->unloadModule("RcsFileServices");
  }
  catch (OdError e)
  {
    odPrintConsoleString(e.description());
  }
  /**********************************************************************/
  /* Uninitialize Runtime Extension environment                         */
  /**********************************************************************/
  ::odrxUninitialize();

	return 0;
}