/* Copyright (c) 2013-2015 Stanislaw Halik <sthalik@misaki.pl>
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 */

#include "ftnoir_tracker_aruco.h"
#include "compat/sleep.hpp"
#include "compat/math-imports.hpp"
#include "cv/init.hpp"

#ifdef _MSC_VER
#   pragma warning(disable : 4702)
#endif

#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/calib3d.hpp>

#ifdef DEBUG_UNSHARP_MASKING
#   include <opencv2/highgui.hpp>
#endif

#include <QMutexLocker>
#include <QDebug>

#include <vector>
#include <tuple>
#include <cstdio>
#include <cmath>
#include <algorithm>
#include <iterator>

static const int adaptive_sizes[] =
{
#if defined USE_EXPERIMENTAL_CANNY
    10,
    30,
    80,
#else
    5,
    7,
    9,
    11,
#endif
};

struct resolution_tuple
{
    int width;
    int height;
};

static const resolution_tuple resolution_choices[] =
{
    { 640, 480 },
    { 320, 240 },
    { 0, 0 }
};

aruco_tracker::aruco_tracker()
{
    opencv_init();

    // param 2 ignored for Otsu thresholding. it's required to use our fork of Aruco.
    set_detector_params();
}

aruco_tracker::~aruco_tracker()
{
    requestInterruption();
    wait();
    // fast start/stop causes breakage
    portable::sleep(1000);
}

module_status aruco_tracker::start_tracker(QFrame* videoframe)
{
    videoframe->show();
    videoWidget = std::make_unique<cv_video_widget>(videoframe);
    layout = std::make_unique<QHBoxLayout>();
    layout->setContentsMargins(0, 0, 0, 0);
    layout->addWidget(videoWidget.get());
    videoframe->setLayout(layout.get());
    videoWidget->show();
    start();

    return status_ok();
}

void aruco_tracker::getRT(cv::Matx33d& r_, cv::Vec3d& t_)
{
    QMutexLocker l(&mtx);

    r_ = r;
    t_ = t;
}

bool aruco_tracker::detect_with_roi()
{
    if (last_roi.width > 1 && last_roi.height > 1)
    {
        detector.setMinMaxSize(clamp(size_min * grayscale.cols / last_roi.width, .01f, 1.f),
                               clamp(size_max * grayscale.cols / last_roi.width, .01f, 1.f));

        detector.detect(grayscale(last_roi), markers, cv::Mat(), cv::Mat(), -1, false);

        // XXX TODO maybe cache the first-present marker id and force it's the same one? -sh 20180517
        if (markers.size() == 1 && markers[0].size() == 4)
        {
            auto& m = markers[0];
            for (unsigned i = 0; i < 4; i++)
            {
                auto& p = m[i];
                p.x += last_roi.x;
                p.y += last_roi.y;
            }
            return true;
        }
    }

    last_roi = cv::Rect(65535, 65535, 0, 0);
    return false;
}

bool aruco_tracker::detect_without_roi()
{
    detector.setMinMaxSize(size_min, size_max);
    detector.detect(grayscale, markers, cv::Mat(), cv::Mat(), -1, false);
    return markers.size() == 1 && markers[0].size() == 4;
}

static int enum_to_fps(int value)
{
    int fps;

    switch (value)
    {
    default: eval_once(qDebug() << "aruco: invalid fps enum value");
    [[fallthrough]];
    case fps_default:   fps = 0; break;
    case fps_30:        fps = 30; break;
    case fps_60:        fps = 60; break;
    case fps_75:        fps = 75; break;
    case fps_125:       fps = 125; break;
    case fps_200:       fps = 200; break;
    case fps_50:        fps = 50; break;
    case fps_100:       fps = 100; break;
    case fps_120:       fps = 120; break;
    case fps_300:       fps = 300; break;
    case fps_250:       fps = 250; break;
    }

    return fps;
}

bool aruco_tracker::open_camera()
{
    int rint = s.resolution;
    if (rint < 0 || rint >= (int)(sizeof(resolution_choices) / sizeof(resolution_tuple)))
        rint = 0;
    resolution_tuple res = resolution_choices[rint];
    int fps = enum_to_fps(s.force_fps);

    QMutexLocker l(&camera_mtx);

    camera = video::make_camera(s.camera_name);

    if (!camera)
        return false;

    video::impl::camera::info args {};

    if (res.width)
    {
        args.width = res.width;
        args.height = res.height;
    }
    if (fps)
        args.fps = fps;

    if (!camera->start(args))
    {
        qDebug() << "aruco tracker: can't open camera";
        return false;
    }
    return true;
}

void aruco_tracker::set_intrinsics()
{
    const int w = grayscale.cols, h = grayscale.rows;
    const double diag_fov = s.fov * M_PI / 180.;
    const double fov_w = 2.*atan(tan(diag_fov/2.)/sqrt(1. + h/(double)w * h/(double)w));
    const double fov_h = 2.*atan(tan(diag_fov/2.)/sqrt(1. + w/(double)h * w/(double)h));
    const double focal_length_w = .5 * w / tan(.5 * fov_w);
    const double focal_length_h = .5 * h / tan(.5 * fov_h);

    intrinsics(0, 0) = focal_length_w;
    intrinsics(0, 2) = grayscale.cols/2.;
    intrinsics(1, 1) = focal_length_h;
    intrinsics(1, 2) = grayscale.rows/2.;
}

void aruco_tracker::update_fps()
{
    const double dt = fps_timer.elapsed_seconds();
    fps_timer.start();
    const double alpha = dt/(dt + RC);

    if (dt > 1e-3)
    {
        fps *= 1 - alpha;
        fps += alpha * (1./dt + .8);
    }
}

void aruco_tracker::draw_ar(bool ok)
{
    if (ok)
    {
        const auto& m = markers[0];
        for (unsigned i = 0; i < 4; i++)
            cv::line(frame, m[i], m[(i+1)%4], cv::Scalar(0, 0, 255), 2, 8);
    }

    char buf[9];
    ::snprintf(buf, sizeof(buf), "Hz: %d", clamp(int(fps), 0, 9999));
    cv::putText(frame, buf, cv::Point(10, 32), cv::FONT_HERSHEY_PLAIN, 2, cv::Scalar(0, 255, 0), 1);
}

void aruco_tracker::clamp_last_roi()
{
    last_roi &= cv::Rect(0, 0, color.cols, color.rows);
}

void aruco_tracker::set_points()
{
    using f = float;
    const f hx = f(s.headpos_x), hy = f(s.headpos_y), hz = f(s.headpos_z);

    constexpr float size = 40;

    const int x1=1, x2=2, x3=3, x4=0;

    obj_points[x1] = { -size, -size, 0 };
    obj_points[x2] = { size, -size, 0 };
    obj_points[x3] = { size, size, 0 };
    obj_points[x4] = { -size, size, 0 };

    for (unsigned i = 0; i < 4; i++)
        obj_points[i] += cv::Point3f(hx, hy, hz);
}

void aruco_tracker::draw_centroid()
{
    repr2.clear();

    static const std::vector<cv::Point3f> centroid { cv::Point3f(0, 0, 0) };

    cv::projectPoints(centroid, rvec, tvec, intrinsics, cv::noArray(), repr2);

    cv::circle(frame, repr2[0], 4, {255, 0, 255}, -1);
}

void aruco_tracker::set_last_roi()
{
    roi_projection.clear();

    using f = float;
    cv::Point3f h(f(s.headpos_x), f(s.headpos_y), f(s.headpos_z));
    for (unsigned i = 0; i < 4; i++)
    {
        cv::Point3f pt(obj_points[i] - h);
        roi_points[i] = pt * c_search_window;
    }

    cv::projectPoints(roi_points, rvec, tvec, intrinsics, cv::noArray(), roi_projection);

    set_roi_from_projection();
}

void aruco_tracker::set_rmat()
{
    cv::Rodrigues(rvec, rmat);

    euler = cv::RQDecomp3x3(rmat, m_r, m_q);

    QMutexLocker lck(&mtx);

    for (int i = 0; i < 3; i++)
        pose[i] = tvec(i) * .1;

    pose[Yaw] = euler[1];
    pose[Pitch] = -euler[0];
    pose[Roll] = euler[2];

    r = rmat;
    t = cv::Vec3d(tvec[0], -tvec[1], tvec[2]);
}

void aruco_tracker::set_roi_from_projection()
{
    last_roi = cv::Rect(color.cols-1, color.rows-1, 0, 0);

    for (unsigned i = 0; i < 4; i++)
    {
        const auto& proj = roi_projection[i];
        int min_x = std::min(int(proj.x), last_roi.x),
            min_y = std::min(int(proj.y), last_roi.y);

        int max_x = std::max(int(proj.x), last_roi.width),
            max_y = std::max(int(proj.y), last_roi.height);

        last_roi.x = min_x;
        last_roi.y = min_y;

        last_roi.width = max_x;
        last_roi.height = max_y;
    }

    clamp_last_roi();
}

void aruco_tracker::set_detector_params()
{
    detector.setDesiredSpeed(3);
#if !defined USE_EXPERIMENTAL_CANNY
    if (use_otsu)
        detector._thresMethod = aruco::MarkerDetector::FIXED_THRES;
    else
        detector._thresMethod = aruco::MarkerDetector::ADPT_THRES;

    detector.setThresholdParams(adaptive_sizes[adaptive_size_pos], adaptive_thres);
#else
    detector._thresMethod = aruco::MarkerDetector::CANNY;
    int value = adaptive_sizes[adaptive_size_pos];
    detector.setThresholdParams(value, value * 3);
#endif
}

void aruco_tracker::cycle_detection_params()
{
#if !defined USE_EXPERIMENTAL_CANNY
    if (!use_otsu)
        use_otsu = true;
    else
#endif
    {
        use_otsu = false;

        adaptive_size_pos++;
        adaptive_size_pos %= std::size(adaptive_sizes);
    }

    set_detector_params();

    qDebug() << "aruco: switched thresholding params"
#if !defined USE_EXPERIMENTAL_CANNY
             << "otsu:" << use_otsu
#endif
             << "size:" << adaptive_sizes[adaptive_size_pos];
}

void aruco_tracker::run()
{
    if (!open_camera())
        return;

    fps_timer.start();
    last_detection_timer.start();

    while (!isInterruptionRequested())
    {
        {
            QMutexLocker l(&camera_mtx);

            auto [ img, res ] = camera->get_frame();

            if (!res)
            {
                portable::sleep(100);
                continue;
            }

            color = cv::Mat(img.height, img.width, CV_8UC(img.channels), (void*)img.data, img.stride);

            switch (img.channels)
            {
            case 1:
                grayscale.setTo(color); break;
            case 3:
                cv::cvtColor(color, grayscale, cv::COLOR_BGR2GRAY);
                break;
            default:
                qDebug() << "aruco: can't handle" << img.channels << "color channels";
                return;
            }
        }

#ifdef DEBUG_UNSHARP_MASKING
        {
            constexpr double strength = double(DEBUG_UNSHARP_MASKING);
            cv::GaussianBlur(grayscale, blurred, cv::Size(0, 0), gauss_kernel_size);
            cv::addWeighted(grayscale, 1 + strength, blurred, -strength, 0, grayscale);
            cv::imshow("capture", grayscale);
            cv::waitKey(1);
        }
#endif

        color.copyTo(frame);

        set_intrinsics();

        update_fps();

        markers.clear();

        const bool ok = detect_with_roi() || detect_without_roi();

        if (ok)
        {
            set_points();

            if (!cv::solvePnP(obj_points, markers[0], intrinsics, cv::noArray(), rvec, tvec, false, cv::SOLVEPNP_ITERATIVE))
                goto fail;

            {
                const double dt = last_detection_timer.elapsed_seconds();
                last_detection_timer.start();
                no_detection_timeout -= dt * timeout_backoff_c;
                no_detection_timeout = std::fmax(0., no_detection_timeout);
            }

            set_last_roi();
            draw_centroid();
            set_rmat();
        }
        else
        {
fail:
            // no marker found, reset search region
            last_roi = cv::Rect(65535, 65535, 0, 0);

            const double dt = last_detection_timer.elapsed_seconds();
            last_detection_timer.start();
            no_detection_timeout += dt;
            if (no_detection_timeout > timeout)
            {
                no_detection_timeout = 0;
                cycle_detection_params();
            }
        }

        draw_ar(ok);

        if (frame.rows > 0)
            videoWidget->update_image(frame);
    }
}

void aruco_tracker::data(double *data)
{
    QMutexLocker lck(&mtx);

    data[Yaw] = pose[Yaw];
    data[Pitch] = pose[Pitch];
    data[Roll] = pose[Roll];
    data[TX] = pose[TX];
    data[TY] = pose[TY];
    data[TZ] = pose[TZ];
}

void aruco_dialog::make_fps_combobox()
{
    std::vector<std::tuple<int, int>> resolutions;
    resolutions.reserve(fps_MAX);

    for (int k = 0; k < fps_MAX; k++)
    {
        int hz = enum_to_fps(k);
        resolutions.emplace_back(k, hz);
    }

    std::sort(resolutions.begin(), resolutions.end(), [](const auto& a, const auto& b) {
        auto [idx1, hz1] = a;
        auto [idx2, hz2] = b;

        return hz1 < hz2;
    });

    for (auto [idx, hz] : resolutions)
    {
        QString name;

        if (hz == 0)
            name = tr("Default");
        else
            name = QString::number(hz);

        ui.cameraFPS->addItem(name, idx);
    }
}

aruco_dialog::aruco_dialog() :
    calibrator(1, 0)
{
    ui.setupUi(this);
    //setAttribute(Qt::WA_NativeWindow, true);

    make_fps_combobox();
    tie_setting(s.force_fps, ui.cameraFPS);

    tracker = nullptr;
    calib_timer.setInterval(100);

    for (const auto& str : video::camera_names())
        ui.cameraName->addItem(str);

    tie_setting(s.camera_name, ui.cameraName);
    tie_setting(s.resolution, ui.resolution);
    tie_setting(s.fov, ui.cameraFOV);
    tie_setting(s.headpos_x, ui.cx);
    tie_setting(s.headpos_y, ui.cy);
    tie_setting(s.headpos_z, ui.cz);

    connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
    connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
    connect(ui.btn_calibrate, SIGNAL(clicked()), this, SLOT(toggleCalibrate()));
    connect(this, SIGNAL(destroyed()), this, SLOT(cleanupCalib()));
    connect(&calib_timer, SIGNAL(timeout()), this, SLOT(update_tracker_calibration()));
    connect(ui.camera_settings, SIGNAL(clicked()), this, SLOT(camera_settings()));

    connect(&s.camera_name, value_::value_changed<QString>(), this, &aruco_dialog::update_camera_settings_state);

    update_camera_settings_state(s.camera_name);
}

void aruco_dialog::toggleCalibrate()
{
    if (!calib_timer.isActive())
    {
        s.headpos_x = 0;
        s.headpos_y = 0;
        s.headpos_z = 0;
        calibrator.reset();
        calib_timer.start();
    }
    else
    {
        cleanupCalib();

        auto [ pos, nvals ] = calibrator.get_estimate();
        (void) nvals;
        s.headpos_x = -pos(0);
        s.headpos_y = -pos(1);
        s.headpos_z = -pos(2);
    }
}

void aruco_dialog::cleanupCalib()
{
    if (calib_timer.isActive())
        calib_timer.stop();
}

void aruco_dialog::update_tracker_calibration()
{
    if (calib_timer.isActive() && tracker)
    {
        cv::Matx33d r;
        cv::Vec3d t;
        tracker->getRT(r, t);
        calibrator.update(r, t);
    }
}

void aruco_dialog::doOK()
{
    s.b->save();
    close();
}

void aruco_dialog::doCancel()
{
    close();
}

void aruco_dialog::camera_settings()
{
    if (tracker)
    {
        QMutexLocker l(&tracker->camera_mtx);
        (void)tracker->camera->show_dialog();
    }
    else
        (void)video::show_dialog(s.camera_name);
}

void aruco_dialog::update_camera_settings_state(const QString& name)
{
    (void)name;
    ui.camera_settings->setEnabled(true);
}

settings::settings() : opts("aruco-tracker") {}

OPENTRACK_DECLARE_TRACKER(aruco_tracker, aruco_dialog, aruco_metadata)