/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2023, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "DifOdometry_Datasets.h"

#include <mrpt/opengl/CBox.h>
#include <mrpt/opengl/CEllipsoid3D.h>
#include <mrpt/opengl/CFrustum.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/CPointCloud.h>
#include <mrpt/opengl/CPointCloudColoured.h>
#include <mrpt/opengl/CSetOfLines.h>
#include <mrpt/opengl/stock_objects.h>
#include <mrpt/system/filesystem.h>

#include "legend.xpm"

using namespace Eigen;
using namespace std;
using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::gui;
using namespace mrpt::img;
using namespace mrpt::obs;
using namespace mrpt::maps;
using namespace mrpt::math;
using namespace mrpt::poses;

void CDifodoDatasets::loadConfiguration(
	const mrpt::config::CConfigFileBase& ini)
{
	fovh = M_PIf * 62.5f /
		180.0f;	 // Larger FOV because depth is registered with color
	fovv = M_PIf * 48.5f / 180.0f;
	cam_mode = 1;
	fast_pyramid = false;
	downsample = ini.read_int("DIFODO_CONFIG", "downsample", 2, true);
	rows = ini.read_int("DIFODO_CONFIG", "rows", 240, true);
	cols = ini.read_int("DIFODO_CONFIG", "cols", 320, true);
	ctf_levels = ini.read_int("DIFODO_CONFIG", "ctf_levels", 5, true);
	string filename =
		ini.read_string("DIFODO_CONFIG", "filename", "no file", true);

	//						Open Rawlog File
	//==================================================================
	std::cout << "Loading dataset from: " << filename << std::endl;
	if (!dataset.loadFromRawLogFile(filename))
		throw std::runtime_error(
			"\nCouldn't open rawlog dataset file for input...");

	rawlog_count = 0;

	// Set external images directory:
	const string imgsPath = CRawlog::detectImagesDirectory(filename);
	CImage::setImagesPathBase(imgsPath);

	//					Load ground-truth
	//=========================================================
	filename = system::extractFileDirectory(filename);
	filename.append("/groundtruth.txt");
	f_gt.open(filename.c_str());

	if (f_gt.fail())
		throw std::runtime_error(
			"\nError finding the groundtruth file: it should be contained in "
			"the same folder than the rawlog file");

	char aux[100];
	f_gt.getline(aux, 100);
	f_gt.getline(aux, 100);
	f_gt.getline(aux, 100);
	f_gt >> last_groundtruth;
	f_gt >> last_gt_data[0];
	f_gt >> last_gt_data[1];
	f_gt >> last_gt_data[2];
	f_gt >> last_gt_data[3];
	f_gt >> last_gt_data[4];
	f_gt >> last_gt_data[5];
	f_gt >> last_gt_data[6];
	last_groundtruth_ok = true;

	//			Resize matrices and adjust parameters
	//=========================================================
	m_width = 640 / (cam_mode * downsample);
	m_height = 480 / (cam_mode * downsample);
	repr_level = mrpt::round(log(float(m_width / cols)) / log(2.f));

	// Resize pyramid
	const unsigned int pyr_levels =
		round(log(float(m_width / cols)) / log(2.f)) + ctf_levels;
	depth.resize(pyr_levels);
	depth_old.resize(pyr_levels);
	depth_inter.resize(pyr_levels);
	depth_warped.resize(pyr_levels);
	xx.resize(pyr_levels);
	xx_inter.resize(pyr_levels);
	xx_old.resize(pyr_levels);
	xx_warped.resize(pyr_levels);
	yy.resize(pyr_levels);
	yy_inter.resize(pyr_levels);
	yy_old.resize(pyr_levels);
	yy_warped.resize(pyr_levels);
	transformations.resize(pyr_levels);

	for (unsigned int i = 0; i < pyr_levels; i++)
	{
		unsigned int s = pow(2.f, int(i));
		cols_i = m_width / s;
		rows_i = m_height / s;
		depth[i].resize(rows_i, cols_i);
		depth_inter[i].resize(rows_i, cols_i);
		depth_old[i].resize(rows_i, cols_i);
		depth[i].fill(0.0f);
		depth_old[i].fill(0.0f);
		xx[i].resize(rows_i, cols_i);
		xx_inter[i].resize(rows_i, cols_i);
		xx_old[i].resize(rows_i, cols_i);
		xx[i].fill(0.0f);
		xx_old[i].fill(0.0f);
		yy[i].resize(rows_i, cols_i);
		yy_inter[i].resize(rows_i, cols_i);
		yy_old[i].resize(rows_i, cols_i);
		yy[i].fill(0.0f);
		yy_old[i].fill(0.0f);
		transformations[i].resize(4, 4);

		if (cols_i <= cols)
		{
			depth_warped[i].resize(rows_i, cols_i);
			xx_warped[i].resize(rows_i, cols_i);
			yy_warped[i].resize(rows_i, cols_i);
		}
	}

	// Resize matrix that store the original depth image
	depth_wf.setSize(m_height, m_width);
}

void CDifodoDatasets::CreateResultsFile()
{
	try
	{
		// Open file, find the first free file-name.
		char aux[100];
		int nFile = 0;
		bool free_name = false;

		system::createDirectory("./difodo.results");

		while (!free_name)
		{
			nFile++;
			sprintf(aux, "./difodo.results/experiment_%03u.txt", nFile);
			free_name = !system::fileExists(aux);
		}

		// Open log file:
		f_res.open(aux);
		printf(" Saving results to file: %s \n", aux);
	}
	catch (...)
	{
		printf("Exception found trying to create the 'results file' !!\n");
	}
}

void CDifodoDatasets::initializeScene()
{
	CPose3D rel_lenspose(0, -0.022, 0, 0, 0, 0);

	global_settings::OCTREE_RENDER_MAX_POINTS_PER_NODE(1000000);
	window.resize(1000, 900);
	window.setPos(900, 0);
	window.setCameraZoom(16);
	window.setCameraAzimuthDeg(0);
	window.setCameraElevationDeg(90);
	window.setCameraPointingToPoint(0, 0, 0);
	window.setCameraPointingToPoint(0, 0, 1);

	scene = window.get3DSceneAndLock();

	// Grid (ground)
	CGridPlaneXY::Ptr ground = std::make_shared<CGridPlaneXY>();
	scene->insert(ground);

	// Reference
	// CSetOfObjects::Ptr reference = stock_objects::CornerXYZ();
	// scene->insert( reference );

	//					Cameras and points
	//------------------------------------------------------

	// DifOdo camera
	CBox::Ptr camera_odo = std::make_shared<CBox>(
		math::TPoint3D(-0.02, -0.1, -0.01), math::TPoint3D(0.02, 0.1, 0.01));
	camera_odo->setPose(cam_pose + rel_lenspose);
	camera_odo->setColor(0, 1, 0);
	scene->insert(camera_odo);

	// Groundtruth camera
	CBox::Ptr camera_gt = std::make_shared<CBox>(
		math::TPoint3D(-0.02, -0.1, -0.01), math::TPoint3D(0.02, 0.1, 0.01));
	camera_gt->setPose(gt_pose + rel_lenspose);
	camera_gt->setColor(1, 0, 0);
	scene->insert(camera_gt);

	// Frustum
	opengl::CFrustum::Ptr FOV = std::make_shared<opengl::CFrustum>(
		0.3f, 2, 57.3f * fovh, 57.3f * fovv, 1.f, true, false);
	FOV->setColor(0.7, 0.7, 0.7);
	FOV->setPose(gt_pose);
	scene->insert(FOV);

	// Reference gt
	CSetOfObjects::Ptr reference_gt = stock_objects::CornerXYZ();
	reference_gt->setScale(0.2f);
	reference_gt->setPose(gt_pose);
	scene->insert(reference_gt);

	// Camera points
	CPointCloudColoured::Ptr cam_points =
		std::make_shared<CPointCloudColoured>();
	cam_points->setColor(1, 0, 0);
	cam_points->setPointSize(2);
	cam_points->setPose(cam_pose);
	scene->insert(cam_points);

	//					Trajectories and covariance
	//-------------------------------------------------------------

	// Dif Odometry
	CSetOfLines::Ptr traj_lines_odo = std::make_shared<CSetOfLines>();
	traj_lines_odo->setLocation(0, 0, 0);
	traj_lines_odo->setColor(0, 0.6, 0);
	traj_lines_odo->setLineWidth(6);
	scene->insert(traj_lines_odo);
	CPointCloud::Ptr traj_points_odo = std::make_shared<CPointCloud>();
	traj_points_odo->setColor(0, 0.6, 0);
	traj_points_odo->setPointSize(4);
	scene->insert(traj_points_odo);

	// Groundtruth
	CSetOfLines::Ptr traj_lines_gt = std::make_shared<CSetOfLines>();
	traj_lines_gt->setLocation(0, 0, 0);
	traj_lines_gt->setColor(0.6, 0, 0);
	traj_lines_gt->setLineWidth(6);
	scene->insert(traj_lines_gt);
	CPointCloud::Ptr traj_points_gt = std::make_shared<CPointCloud>();
	traj_points_gt->setColor(0.6, 0, 0);
	traj_points_gt->setPointSize(4);
	scene->insert(traj_points_gt);

	// Ellipsoid showing covariance
	const auto cov3d = math::CMatrixFloat33(20.f * est_cov.block<3, 3>(0, 0));
	auto ellip = CEllipsoid3D::Create();
	ellip->setCovMatrix(cov3d.cast_double());
	ellip->setQuantiles(2.0);
	ellip->setColor(1.0, 1.0, 1.0, 0.5);
	ellip->enableDrawSolid3D(true);
	ellip->setPose(cam_pose + rel_lenspose);
	scene->insert(ellip);

	// User-interface information
	CImage img_legend;
	img_legend.loadFromXPM(legend_xpm);
	Viewport::Ptr legend = scene->createViewport("legend");
	legend->setViewportPosition(20, 20, 332, 164);
	legend->setImageView(img_legend);

	window.unlockAccess3DScene();
	window.repaint();
}

void CDifodoDatasets::updateScene()
{
	CPose3D rel_lenspose(0, -0.022, 0, 0, 0, 0);

	scene = window.get3DSceneAndLock();

	// Reference gt
	CSetOfObjects::Ptr reference_gt = scene->getByClass<CSetOfObjects>(0);
	reference_gt->setPose(gt_pose);

	// Camera points
	CPointCloudColoured::Ptr cam_points =
		scene->getByClass<CPointCloudColoured>(0);
	cam_points->clear();
	cam_points->setPose(gt_pose);
	for (unsigned int y = 0; y < cols; y++)
		for (unsigned int z = 0; z < rows; z++)
			cam_points->push_back(
				depth[repr_level](z, y), xx[repr_level](z, y),
				yy[repr_level](z, y), 1.f - sqrt(weights(z, y)),
				sqrt(weights(z, y)), 0);

	// DifOdo camera
	CBox::Ptr camera_odo = scene->getByClass<CBox>(0);
	camera_odo->setPose(cam_pose + rel_lenspose);

	// Groundtruth camera
	CBox::Ptr camera_gt = scene->getByClass<CBox>(1);
	camera_gt->setPose(gt_pose + rel_lenspose);

	// Frustum
	CFrustum::Ptr FOV = scene->getByClass<CFrustum>(0);
	FOV->setPose(gt_pose);

	if ((first_pose == true) && ((gt_pose - gt_oldpose).norm() < 0.5))
	{
		// Difodo traj lines
		CSetOfLines::Ptr traj_lines_odo = scene->getByClass<CSetOfLines>(0);
		traj_lines_odo->appendLine(
			cam_oldpose.x(), cam_oldpose.y(), cam_oldpose.z(), cam_pose.x(),
			cam_pose.y(), cam_pose.z());

		// Difodo traj points
		CPointCloud::Ptr traj_points_odo = scene->getByClass<CPointCloud>(0);
		traj_points_odo->insertPoint(cam_pose.x(), cam_pose.y(), cam_pose.z());

		// Groundtruth traj lines
		CSetOfLines::Ptr traj_lines_gt = scene->getByClass<CSetOfLines>(1);
		traj_lines_gt->appendLine(
			gt_oldpose.x(), gt_oldpose.y(), gt_oldpose.z(), gt_pose.x(),
			gt_pose.y(), gt_pose.z());

		// Groundtruth traj points
		CPointCloud::Ptr traj_points_gt = scene->getByClass<CPointCloud>(1);
		traj_points_gt->insertPoint(gt_pose.x(), gt_pose.y(), gt_pose.z());
	}

	// Ellipsoid showing covariance
	const auto cov3d = math::CMatrixFloat33(20.f * est_cov.block<3, 3>(0, 0));
	CEllipsoid3D::Ptr ellip = scene->getByClass<CEllipsoid3D>(0);
	ellip->setCovMatrix(cov3d.cast_double());
	ellip->setPose(cam_pose + rel_lenspose);

	window.unlockAccess3DScene();
	window.repaint();
}

void CDifodoDatasets::loadFrame()
{
	CObservation::Ptr alfa = dataset.getAsObservation(rawlog_count);

	while (!IS_CLASS(*alfa, CObservation3DRangeScan))
	{
		rawlog_count++;
		if (dataset.size() <= rawlog_count)
		{
			dataset_finished = true;
			return;
		}
		alfa = dataset.getAsObservation(rawlog_count);
	}

	CObservation3DRangeScan::Ptr obs3D =
		std::dynamic_pointer_cast<CObservation3DRangeScan>(alfa);
	obs3D->load();
	const auto& range = obs3D->rangeImage;
	const auto rangeUnits = obs3D->rangeUnits;
	const unsigned int height = range.rows();
	const unsigned int width = range.cols();

	for (unsigned int j = 0; j < cols; j++)
		for (unsigned int i = 0; i < rows; i++)
		{
			const float z =
				range(height - downsample * i - 1, width - downsample * j - 1) *
				rangeUnits;
			if (z < 4.5f) depth_wf(i, j) = z;
			else
				depth_wf(i, j) = 0.f;
		}

	double timestamp_gt;
	timestamp_obs = mrpt::system::timestampTotime_t(obs3D->timestamp);

	// Exit if there is no groundtruth at this time
	if (last_groundtruth > timestamp_obs)
	{
		groundtruth_ok = false;
		obs3D->unload();
		rawlog_count++;
		return;
	}

	// Search the corresponding groundtruth data and interpolate
	bool new_data = false;
	last_groundtruth_ok = groundtruth_ok;
	while (last_groundtruth < timestamp_obs - 0.01)
	{
		f_gt.ignore(100, '\n');
		f_gt >> timestamp_gt;
		last_groundtruth = timestamp_gt;
		new_data = true;

		if (f_gt.eof())
		{
			dataset_finished = true;
			return;
		}
	}

	// Read the inmediatly previous groundtruth
	double x0, y0, z0, qx0, qy0, qz0, w0, t0;
	if (new_data)
	{
		f_gt >> x0;
		f_gt >> y0;
		f_gt >> z0;
		f_gt >> qx0;
		f_gt >> qy0;
		f_gt >> qz0;
		f_gt >> w0;
	}
	else
	{
		x0 = last_gt_data[0];
		y0 = last_gt_data[1];
		z0 = last_gt_data[2];
		qx0 = last_gt_data[3];
		qy0 = last_gt_data[4];
		qz0 = last_gt_data[5];
		w0 = last_gt_data[6];
	}

	t0 = last_groundtruth;

	// Read the inmediatly posterior groundtruth
	f_gt.ignore(10, '\n');
	f_gt >> timestamp_gt;
	if (f_gt.eof())
	{
		dataset_finished = true;
		return;
	}
	last_groundtruth = timestamp_gt;

	// last_gt_data = [x y z qx qy qz w]
	f_gt >> last_gt_data[0];
	f_gt >> last_gt_data[1];
	f_gt >> last_gt_data[2];
	f_gt >> last_gt_data[3];
	f_gt >> last_gt_data[4];
	f_gt >> last_gt_data[5];
	f_gt >> last_gt_data[6];

	if (last_groundtruth - timestamp_obs > 0.01) groundtruth_ok = false;

	else
	{
		gt_oldpose = gt_pose;

		//							Update pose
		//-----------------------------------------------------------------
		const float incr_t0 = timestamp_obs - t0;
		const float incr_t1 = last_groundtruth - timestamp_obs;
		const float incr_t = incr_t0 + incr_t1;

		if (incr_t == 0.f)	// Deal with defects in the groundtruth files
		{
			groundtruth_ok = false;
			return;
		}

		// Sometimes the quaternion sign changes in the groundtruth
		if (std::abs(qx0 + last_gt_data[3]) + std::abs(qy0 + last_gt_data[4]) +
				std::abs(qz0 + last_gt_data[5]) +
				std::abs(w0 + last_gt_data[6]) <
			0.05)
		{
			qx0 = -qx0;
			qy0 = -qy0;
			qz0 = -qz0;
			w0 = -w0;
		}

		double x, y, z, qx, qy, qz, w;
		x = (incr_t0 * last_gt_data[0] + incr_t1 * x0) / (incr_t);
		y = (incr_t0 * last_gt_data[1] + incr_t1 * y0) / (incr_t);
		z = (incr_t0 * last_gt_data[2] + incr_t1 * z0) / (incr_t);
		qx = (incr_t0 * last_gt_data[3] + incr_t1 * qx0) / (incr_t);
		qy = (incr_t0 * last_gt_data[4] + incr_t1 * qy0) / (incr_t);
		qz = (incr_t0 * last_gt_data[5] + incr_t1 * qz0) / (incr_t);
		w = (incr_t0 * last_gt_data[6] + incr_t1 * w0) / (incr_t);

		CMatrixDouble33 mat;
		mat(0, 0) = 1 - 2 * qy * qy - 2 * qz * qz;
		mat(0, 1) = 2 * (qx * qy - w * qz);
		mat(0, 2) = 2 * (qx * qz + w * qy);
		mat(1, 0) = 2 * (qx * qy + w * qz);
		mat(1, 1) = 1 - 2 * qx * qx - 2 * qz * qz;
		mat(1, 2) = 2 * (qy * qz - w * qx);
		mat(2, 0) = 2 * (qx * qz - w * qy);
		mat(2, 1) = 2 * (qy * qz + w * qx);
		mat(2, 2) = 1 - 2 * qx * qx - 2 * qy * qy;

		CPose3D gt, transf;
		gt.setFromValues(x, y, z, 0, 0, 0);
		gt.setRotationMatrix(mat);
		transf.setFromValues(0, 0, 0, 0.5 * M_PI, -0.5 * M_PI, 0);

		// Alternative - directly quaternions
		// vector<float> quat;
		// quat[0] = x, quat[1] = y; quat[2] = z;
		// quat[3] = w, quat[4] = qx; quat[5] = qy; quat[6] = qz;
		// gt.setFromXYZQ(quat);

		// Set the initial pose (if appropiate)
		if (first_pose == false)
		{
			cam_pose = gt + transf;
			first_pose = true;
		}

		gt_pose = gt + transf;
		groundtruth_ok = true;
	}

	obs3D->unload();
	rawlog_count++;

	if (dataset.size() <= rawlog_count) dataset_finished = true;
}

void CDifodoDatasets::reset()
{
	loadFrame();
	if (fast_pyramid) buildCoordinatesPyramidFast();
	else
		buildCoordinatesPyramid();

	cam_oldpose = cam_pose;
	gt_oldpose = gt_pose;
}

void CDifodoDatasets::writeTrajectoryFile()
{
	// Don't take into account those iterations with consecutive equal depth
	// images
	if (std::abs(dt.sum()) > 0)
	{
		mrpt::math::CQuaternionDouble quat;
		CPose3D auxpose, transf;
		transf.setFromValues(0, 0, 0, 0.5 * M_PI, -0.5 * M_PI, 0);

		auxpose = cam_pose - transf;
		auxpose.getAsQuaternion(quat);

		char aux[24];
		sprintf(aux, "%.04f", timestamp_obs);
		f_res << aux << " ";
		f_res << cam_pose[0] << " ";
		f_res << cam_pose[1] << " ";
		f_res << cam_pose[2] << " ";
		f_res << quat[2] << " ";
		f_res << quat[3] << " ";
		f_res << -quat[1] << " ";
		f_res << -quat[0] << endl;
	}
}
