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#include "SMSMTriangulator.h"

#include <QCoreApplication>

#include <QSettings>

#include <iostream>

#include <opencv2/opencv.hpp>

#include <pcl/filters/statistical_outlier_removal.h>

#include <pcl/io/pcd_io.h>

void SMSMTriangulator::setup(){

    // Initialize SMTriangulator with calibration

    calibration = new SMCalibrationParams;

    calibration->load("calibration.yml");

    SMTriangulator = new SMTriangulator(*calibration, frameWidth, frameHeight);

    QSettings settings("SLStudio");

    writeToDisk = settings.value("writeToDisk/pointclouds",false).toBool();

}

void SMSMTriangulator::triangulatePointCloud(cv::Mat up, cv::Mat vp, cv::Mat mask, cv::Mat shading){

    time.start();

    // Reconstruct point cloud

    cv::Mat pointCloud;

    cv::Mat empty;

    SMTriangulator->triangulate(up, vp, mask, shading, pointCloud);

    std::vector<cv::Mat> xyz;

    cv::split(pointCloud, xyz);

//    emit imshow("x", xyz[0], 1400, 100);

//    emit imshow("y", xyz[1], 1400, 450);

//    emit imshow("z", xyz[2], 1400, 800);

    // Convert point cloud to PCL format

    pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloudPCL(new pcl::PointCloud<pcl::PointXYZRGB>);

    // Interprete as organized point cloud

    pointCloudPCL->width = pointCloud.cols;

    pointCloudPCL->height = pointCloud.rows;

    pointCloudPCL->is_dense = false;

    pointCloudPCL->points.resize(pointCloud.rows*pointCloud.cols);

    //    for(int col=0; col<pointCloud.cols; col++){

    //        for(int row=0; row<pointCloud.rows; row++){

    //            const cv::Vec3f pnt = pointCloud.at<cv::Vec3f>(row,col);

    //            unsigned char shade = shading.at<unsigned char>(row,col);

    //            pcl::PointXYZRGBRGB point;

    //            point.x = pnt[0]; point.y = pnt[1]; point.z = pnt[2];

    //            point.r = shade; point.g = shade; point.b = shade;

    //            pointCloudPCL->at(col, row) = point;

    //        }

    //    }

    // stack xyz data

    std::vector<cv::Mat> pointCloudChannels;

    pointCloudChannels.push_back(xyz[0]);

    pointCloudChannels.push_back(xyz[1]);

    pointCloudChannels.push_back(xyz[2]);

    // 4 byte padding

    pointCloudChannels.push_back(cv::Mat::zeros(pointCloud.size(), CV_32F));

    // triple uchar color information

    std::vector<cv::Mat> rgb;

    rgb.push_back(shading);

    rgb.push_back(shading);

    rgb.push_back(shading);

    rgb.push_back(cv::Mat::zeros(shading.size(), CV_8U));

    cv::Mat rgb8UC4;

    cv::merge(rgb, rgb8UC4);

    cv::Mat rgb32F(rgb8UC4.size(), CV_32F, rgb8UC4.data);

    pointCloudChannels.push_back(rgb32F);

    // 12 bytes padding

    pointCloudChannels.push_back(cv::Mat::zeros(pointCloud.size(), CV_32F));

    pointCloudChannels.push_back(cv::Mat::zeros(pointCloud.size(), CV_32F));

    pointCloudChannels.push_back(cv::Mat::zeros(pointCloud.size(), CV_32F));

    // merge channels

    cv::Mat pointCloudPadded;

    cv::merge(pointCloudChannels, pointCloudPadded);

    // memcpy everything

    memcpy(&pointCloudPCL->points[0], pointCloudPadded.data, pointCloudPadded.rows*pointCloudPadded.cols*sizeof(pcl::PointXYZRGB));

//    // filtering

//    pcl::StatisticalOutlierRemoval<pcl::PointXYZRGB> filter;

//    filter.setMeanK(5);

//    filter.setStddevMulThresh(1.0);

//    filter.setInputCloud(pointCloudPCL);

//    pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloudFiltered(new pcl::PointCloud<pcl::PointXYZRGB>);

//    filter.filter(*pointCloudFiltered);

    // Emit result

    emit newPointCloud(pointCloudPCL);

    std::cout << "SMTriangulator: " << time.elapsed() << "ms" << std::endl;

    if(writeToDisk){

        QString fileName = QDateTime::currentDateTime().toString("yyyyMMdd_HHmmsszzz");

        fileName.append(".pcd");

        pcl::io::savePCDFileBinary(fileName.toStdString(), *pointCloudPCL);

    }

    //emit finished();

}

SMTriangulator::SMTriangulator(SMCalibrationParams _calibration, unsigned int frameWidth, unsigned int frameHeight) : calibration(_calibration){

    // Precompute uc, vc maps

    uc.create(frameHeight, frameWidth, CV_32F);

    vc.create(frameHeight, frameWidth, CV_32F);

    for(unsigned int row=0; row<frameHeight; row++){

        for(unsigned int col=0; col<frameWidth; col++){

            uc.at<float>(row, col) = col;

            vc.at<float>(row, col) = row;

        }

    }

    // Precompute determinant tensor

    cv::Mat Pc(3,4,CV_32F,cv::Scalar(0.0));

    cv::Mat(calibration.Kc).copyTo(Pc(cv::Range(0,3), cv::Range(0,3)));

    cv::Mat Pp(3,4,CV_32F), temp(3,4,CV_32F);

    cv::Mat(calibration.Rp).copyTo(temp(cv::Range(0,3), cv::Range(0,3)));

    cv::Mat(calibration.Tp).copyTo(temp(cv::Range(0,3), cv::Range(3,4)));

    Pp = cv::Mat(calibration.Kp) * temp;

    cv::Mat e = cv::Mat::eye(4, 4, CV_32F);

    int sz[] = {4, 3, 3, 3};

    cv::Mat C(4, sz, CV_32F, cv::Scalar::all(0));

    for(int k=0; k<4; k++){

        for(int i=0; i<3; i++){

            for(int j=0; j<3; j++){

                for(int l=0; l<3; l++){

                    cv::Mat op(4, 4, CV_32F);

                    Pc.row(i).copyTo(op.row(0));

                    Pc.row(j).copyTo(op.row(1));

                    Pp.row(l).copyTo(op.row(2));

                    e.row(k).copyTo(op.row(3));

                    C.at<float>(cv::Vec4i(k,i,j,l)) = cv::determinant(op.t());

                }

            }

        }

    }

    determinantTensor = C;

    // Precompute lens correction maps

    cv::Mat eye = cv::Mat::eye(3, 3, CV_32F);

    cv::initUndistortRectifyMap(calibration.Kc, calibration.kc, eye, calibration.Kc, cv::Size(frameWidth, frameHeight), CV_32FC1, lensMap1, lensMap2);

    //cv::Mat map1, map2;

    //cv::normalize(lensMap1, map1, 0, 255, cv::NORM_MINMAX, CV_8U);

    //cv::normalize(lensMap2, map2, 0, 255, cv::NORM_MINMAX, CV_8U);

    //cv::imwrite("map1.png", map1);

    //cv::imwrite("map2.png", map2);

}

void SMTriangulator::triangulate(cv::Mat &up, cv::Mat &vp, cv::Mat &mask, cv::Mat &shading, cv::Mat &pointCloud){

    // Undistort up, mask and shading

    if(!up.empty()){

        cv::Mat upUndistort;

        cv::remap(up, upUndistort, lensMap1, lensMap2, cv::INTER_LINEAR);

        up = upUndistort;

    }

    if(!vp.empty()){

        cv::Mat vpUndistort;

        cv::remap(vp, vpUndistort, lensMap1, lensMap2, cv::INTER_LINEAR);

        vp = vpUndistort;

    }

    cv::Mat maskUndistort, shadingUndistort;

    cv::remap(mask, maskUndistort, lensMap1, lensMap2, cv::INTER_LINEAR);

    cv::remap(shading, shadingUndistort, lensMap1, lensMap2, cv::INTER_LINEAR);

    mask = maskUndistort;

    shading = shadingUndistort;

    // Triangulate

    cv::Mat xyz;

    if(!up.empty() && vp.empty())

        triangulateFromUp(up, xyz);

    else if(!vp.empty() && up.empty())

        triangulateFromVp(vp, xyz);

    else if(!up.empty() && !vp.empty())

        triangulateFromUpVp(up, vp, xyz);

    // Merge and mask

    pointCloud = cv::Mat(up.size(), CV_32FC3, cv::Scalar(NAN, NAN, NAN));

    xyz.copyTo(pointCloud, mask);

}

void SMTriangulator::triangulateFromUp(cv::Mat &up, cv::Mat &xyz){

    // Solve for xyzw using determinant tensor

    cv::Mat C = determinantTensor;

    std::vector<cv::Mat> xyzw(4);

    for(unsigned int i=0; i<4; i++){

        xyzw[i].create(up.size(), CV_32F);

        xyzw[i] = C.at<float>(cv::Vec4i(i,0,1,0)) - C.at<float>(cv::Vec4i(i,2,1,0))*uc - C.at<float>(cv::Vec4i(i,0,2,0))*vc -

                C.at<float>(cv::Vec4i(i,0,1,2))*up + C.at<float>(cv::Vec4i(i,2,1,2))*up.mul(uc) + C.at<float>(cv::Vec4i(i,0,2,2))*up.mul(vc);

    }

    // Convert to non homogenous coordinates

    for(unsigned int i=0; i<3; i++)

        xyzw[i] /= xyzw[3];

    // Merge and mask

    cv::merge(std::vector<cv::Mat>(xyzw.begin(), xyzw.begin()+3), xyz);

}

void SMTriangulator::triangulateFromVp(cv::Mat &vp, cv::Mat &xyz){

    // Solve for xyzw using determinant tensor

    cv::Mat C = determinantTensor;

    std::vector<cv::Mat> xyzw(4);

    for(unsigned int i=0; i<4; i++){

        xyzw[i].create(vp.size(), CV_32F);

        xyzw[i] = C.at<float>(cv::Vec4i(i,0,1,1)) - C.at<float>(cv::Vec4i(i,2,1,1))*uc - C.at<float>(cv::Vec4i(i,0,2,1))*vc -

                C.at<float>(cv::Vec4i(i,0,1,2))*vp + C.at<float>(cv::Vec4i(i,2,1,2))*vp.mul(uc) + C.at<float>(cv::Vec4i(i,0,2,2))*vp.mul(vc);

    }

    // Convert to non homogenous coordinates

    for(unsigned int i=0; i<3; i++)

        xyzw[i] /= xyzw[3];

    // Merge and mask

    cv::merge(std::vector<cv::Mat>(xyzw.begin(), xyzw.begin()+3), xyz);

}

void SMTriangulator::triangulateFromUpVp(cv::Mat &up, cv::Mat &vp, cv::Mat &xyz){

    std::cerr << "WARNING! NOT FULLY IMPLEMENTED!" << std::endl;

    int N = up.rows * up.cols;

    cv::Mat projPointsCam(2, N, CV_32F);

    uc.reshape(0,1).copyTo(projPointsCam.row(0));

    vc.reshape(0,1).copyTo(projPointsCam.row(1));

    cv::Mat projPointsProj(2, N, CV_32F);

    up.reshape(0,1).copyTo(projPointsProj.row(0));

    vp.reshape(0,1).copyTo(projPointsProj.row(1));

    cv::Mat Pc(3,4,CV_32F,cv::Scalar(0.0));

    cv::Mat(calibration.Kc).copyTo(Pc(cv::Range(0,3), cv::Range(0,3)));

    cv::Mat Pp(3,4,CV_32F), temp(3,4,CV_32F);

    cv::Mat(calibration.Rp).copyTo(temp(cv::Range(0,3), cv::Range(0,3)));

    cv::Mat(calibration.Tp).copyTo(temp(cv::Range(0,3), cv::Range(3,4)));

    Pp = cv::Mat(calibration.Kp) * temp;

    cv::Mat xyzw;

    cv::triangulatePoints(Pc, Pp, projPointsCam, projPointsProj, xyzw);

    xyz.create(3, N, CV_32F);

    for(int i=0; i<N; i++){

        xyz.at<float>(0,i) = xyzw.at<float>(0,i)/xyzw.at<float>(3,i);

        xyz.at<float>(1,i) = xyzw.at<float>(1,i)/xyzw.at<float>(3,i);

        xyz.at<float>(2,i) = xyzw.at<float>(2,i)/xyzw.at<float>(3,i);

    }

    xyz = xyz.t();

    xyz = xyz.reshape(3, up.rows);

}

SMSMTriangulator::~SMSMTriangulator(){

    delete calibration;

    delete SMTriangulator;

    std::cout<<"SMTriangulatorWorker deleted\n"<<std::flush;

}