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#include "SMTriangulationWorker.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 SMTriangulationWorker::setup(){

    // Initialize triangulator with calibration
    calibration = new SMCalibrationParams;
    calibration->load("calibration.yml");
    triangulator = new Triangulator(*calibration, frameWidth, frameHeight);

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

}


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

    time.start();

    // Reconstruct point cloud
    cv::Mat pointCloud;
    cv::Mat empty;
    triangulator->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 << "Triangulator: " << 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();
}

SMTriangulationWorker::~SMTriangulationWorker(){
    delete calibration;
    delete triangulator;

    std::cout<<"triangulatorWorker deleted\n"<<std::flush;
}