#include <open3d/Open3D.h>
#include <Eigen/Dense>
#include <vector>
#include <cmath>
#include <memory>

#pragma comment(lib, "opengl32.lib")
#pragma comment(lib, "glew32s.lib")

using namespace open3d;
 

std::shared_ptr<geometry::LineSet> MakePolyline() {

    const double x0 = -2.0 * 3.14159;
    const double x1 = 2.0 * 3.14159;
    const double amplitude = 1.0; // 振幅
    const double frequency = 1.0; // 周波数
    const double phase = 1.0;     // 位相
    const int samples = 400;

    /////////////////////////////////////////////////////////
    auto lineset = std::make_shared<geometry::LineSet>();
    
    // 頂点作成
    const double step = (x1 - x0) / (samples - 1);
    for (int i = 0; i < samples; ++i) {
        double x = x0 + step * i;
        double y = amplitude * std::sin(frequency * x + phase);

        lineset->points_.emplace_back(Eigen::Vector3d(x, y, 0.0));
    }

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

    // 頂点インデックスの組み合わせで線分を作成
    for (size_t i = 0; i < samples-1; ++i){
        lineset->lines_.emplace_back(
            (int)i, 
            (int)(i + 1)
        );
        // 線分に対する色を設定
        lineset->colors_.emplace_back(Eigen::Vector3d(1.0, i/float(samples), 0.0));
    }

    return lineset;
}

int main() {

    auto sine_ls = MakePolyline();

    visualization::Visualizer vis;
    vis.CreateVisualizerWindow("LineSet", 800, 600);
    vis.AddGeometry(sine_ls);

    auto& opt = vis.GetRenderOption();
    opt.line_width_ = 2.0;
    opt.background_color_ = { 0, 0, 0 };

    vis.Run();
    vis.DestroyVisualizerWindow();

    return 0;
}

#pragma once

#include <vtkCellArray.h>
#include <vtkPoints.h>
#include <vtkPolyData.h>
#include <vtkPolyDataMapper.h>
#include <vtkActor.h>
#include <vtkDoubleArray.h>
#include <vtkSmartPointer.h>
#include <vtkPointData.h>
#include <vtkProperty.h>


#include <open3d/Open3D.h>
#include <open3d/geometry/PointCloud.h>
#include <Eigen/Core>

#include "vtkFromO3dCommon.hpp"

namespace vtko3d {

    vtkSmartPointer<vtkPolyData> toCloudPolyData(const open3d::geometry::PointCloud& cloud, USEVALUE usedata=POINT_RGB) {

        // 頂点配列
        vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();

        // 色情報の配列
        vtkSmartPointer<vtkDoubleArray> colors = vtkSmartPointer<vtkDoubleArray>::New();
        colors->SetNumberOfComponents(3);
        colors->SetName("Colors");

        auto normals = vtkSmartPointer<vtkDoubleArray>::New();
        normals->SetNumberOfComponents(3);  // x, y, z
        normals->SetName("Normals");

        // 頂点インデクスの配列
        vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();


        for (size_t i = 0; i < cloud.points_.size(); i++) {

            double x = cloud.points_[i].x();
            double y = cloud.points_[i].y();
            double z = cloud.points_[i].z();
            points->InsertNextPoint(x, y, z);  // 座標追加

            if (usedata & POINT_RGB) {
                double r = cloud.colors_[i].x();
                double g = cloud.colors_[i].y();
                double b = cloud.colors_[i].z();
                colors->InsertNextTuple3(r, g, b); // 色情報追加
            }
            if (usedata & POINT_NORMAL) {
                double nx = cloud.normals_[i].x();
                double ny = cloud.normals_[i].y();
                double nz = cloud.normals_[i].z();
                normals->InsertNextTuple3(nx, ny, nz); // 法線ベクトル追加
            }

            cells->InsertNextCell(1);  // 要素数
            cells->InsertCellPoint(i); // 頂点インデックスを追加

        }

        // --- vtkPolyData作成 ---
        auto polydata = vtkSmartPointer<vtkPolyData>::New();
        polydata->SetPoints(points);
        polydata->SetVerts(cells);
        if (usedata & POINT_RGB) {
            polydata->GetPointData()->SetScalars(colors);
        }
        if (usedata & POINT_NORMAL) {
            polydata->GetPointData()->SetNormals(normals);
        }

        return polydata;

    }