/* Copyright (c) 2012 Patrick Ruoff
 * Copyright (c) 2014-2015 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_pt.h"
#include <QHBoxLayout>
#include <cmath>
#include <QDebug>
#include <QFile>
#include <QCoreApplication>
#include "opentrack-compat/camera-names.hpp"
#include "opentrack-compat/sleep.hpp"
#include <functional>

//#define PT_PERF_LOG	//log performance

//-----------------------------------------------------------------------------
Tracker_PT::Tracker_PT()
    : commands(0),
      video_widget(NULL),
      video_frame(NULL),
      ever_success(false)
{
    connect(s.b.get(), SIGNAL(saving()), this, SLOT(apply_settings()));
}

Tracker_PT::~Tracker_PT()
{
    set_command(ABORT);
    wait();
    if (video_widget)
        delete video_widget;
    video_widget = NULL;
    if (video_frame)
    {
        if (video_frame->layout()) delete video_frame->layout();
    }
    // fast start/stop causes breakage
    portable::sleep(1000);
    camera.stop();
}

void Tracker_PT::set_command(Command command)
{
    //QMutexLocker lock(&mutex);
    commands |= command;
}

void Tracker_PT::reset_command(Command command)
{
    //QMutexLocker lock(&mutex);
    commands &= ~command;
}

bool Tracker_PT::get_focal_length(float& ret)
{
    QMutexLocker l(&camera_mtx);
    CamInfo info;
    const bool res = camera.get_info(info);
    if (res)
    {
        static constexpr double pi = 3.14159265359;
        const int w = info.res_x, h = info.res_y;
        const double diag = sqrt(1. + h/(double)w * h/(double)w);
        const double diag_fov = static_cast<int>(s.fov) * pi / 180.;
        const double fov = 2.*atan(tan(diag_fov/2.0)/diag);
        ret = .5 / tan(.5 * fov);
        return true;
    }
    return false;
}

void Tracker_PT::run()
{
#ifdef PT_PERF_LOG
    QFile log_file(QCoreApplication::applicationDirPath() + "/PointTrackerPerformance.txt");
    if (!log_file.open(QIODevice::WriteOnly | QIODevice::Text)) return;
    QTextStream log_stream(&log_file);
#endif

    apply_settings();
    cv::Mat frame_;

    while((commands & ABORT) == 0)
    {
        const double dt = time.elapsed() * 1e-9;
        time.start();
        bool new_frame;

        {
            QMutexLocker l(&camera_mtx);
            new_frame = camera.get_frame(dt, &frame);
            if (frame.rows != frame_.rows || frame.cols != frame_.cols)
                frame_ = cv::Mat(frame.rows, frame.cols, CV_8UC3);
            frame.copyTo(frame_);
        }

        if (new_frame && !frame_.empty())
        {
            const auto& points = point_extractor.extract_points(frame_);

            float fx;
            if (!get_focal_length(fx))
                continue;
            
            const bool success = points.size() >= PointModel::N_POINTS;

            if (success)
            {
                point_tracker.track(points, PointModel(s), fx, s.dynamic_pose, s.init_phase_timeout);
                ever_success = true;
            }
            
            Affine X_CM = pose();
            
            std::function<void(const cv::Vec2f&, const cv::Scalar)> fun = [&](const cv::Vec2f& p, const cv::Scalar color)
            {
                auto p2 = cv::Point(p[0] * frame_.cols + frame_.cols/2, -p[1] * frame_.cols + frame_.rows/2);
                cv::line(frame_,
                         cv::Point(p2.x - 20, p2.y),
                         cv::Point(p2.x + 20, p2.y),
                         color,
                         4);
                cv::line(frame_,
                         cv::Point(p2.x, p2.y - 20),
                         cv::Point(p2.x, p2.y + 20),
                         color,
                         4);                
            };

            for (unsigned i = 0; i < points.size(); i++)
            {
                fun(points[i], cv::Scalar(0, 255, 0));
            }
            
            {
                Affine X_MH(cv::Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z)); // just copy pasted these lines from below
                Affine X_GH = X_CM * X_MH;
                cv::Vec3f p = X_GH.t; // head (center?) position in global space
                cv::Vec2f p_(p[0] / p[2] * fx, p[1] / p[2] * fx);  // projected to screen
                fun(p_, cv::Scalar(0, 0, 255));
            }

            video_widget->update_image(frame_);
        }
    }
    qDebug()<<"Tracker:: Thread stopping";
}

void Tracker_PT::apply_settings()
{
    qDebug()<<"Tracker:: Applying settings";
    QMutexLocker l(&camera_mtx);
    camera.stop();
    camera.set_device_index(camera_name_to_index(s.camera_name));
    camera.set_res(s.cam_res_x, s.cam_res_y);
    camera.set_fps(s.cam_fps);
    camera.start();
    frame = cv::Mat();
    qDebug()<<"Tracker::apply ends";
}

void Tracker_PT::start_tracker(QFrame *parent_window)
{
    this->video_frame = parent_window;
    video_frame->setAttribute(Qt::WA_NativeWindow);
    video_frame->show();
    video_widget = new PTVideoWidget(video_frame);
    QHBoxLayout* video_layout = new QHBoxLayout(parent_window);
    video_layout->setContentsMargins(0, 0, 0, 0);
    video_layout->addWidget(video_widget);
    video_frame->setLayout(video_layout);
    video_widget->resize(video_frame->width(), video_frame->height());
    start();
}

void Tracker_PT::data(double *data)
{
    if (ever_success)
    {
        Affine X_CM = pose();

        Affine X_MH(cv::Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z));
        Affine X_GH = X_CM * X_MH;

        cv::Matx33f R = X_GH.R;
        cv::Vec3f   t = X_GH.t;

        // translate rotation matrix from opengl (G) to roll-pitch-yaw (E) frame
        // -z -> x, y -> z, x -> -y
        cv::Matx33f R_EG(0, 0,-1,
                         -1, 0, 0,
                         0, 1, 0);
        R = R_EG * R * R_EG.t();

        using std::atan2;
        using std::sqrt;

        // extract rotation angles
        float alpha, beta, gamma;
        beta  = atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );
        alpha = atan2( R(1,0), R(0,0));
        gamma = atan2( R(2,1), R(2,2));

        // extract rotation angles
        data[Yaw] = rad2deg * alpha;
        data[Pitch] = -rad2deg * beta;
        data[Roll] = rad2deg * gamma;
        // get translation(s)
        data[TX] = t[0] / 10.0;	// convert to cm
        data[TY] = t[1] / 10.0;
        data[TZ] = t[2] / 10.0;
    }
}

#include "ftnoir_tracker_pt_dialog.h"
OPENTRACK_DECLARE_TRACKER(Tracker_PT, TrackerDialog_PT, TrackerDll)