#pragma once

#include <array>
#include <cstdint>
#include <string>
#include <vector>

#include "camera.hpp"

// =================================================================================================

using RaggedPoses2D = std::vector<std::vector<std::vector<std::array<float, 3>>>>;
using NestedPoses3D = std::vector<std::vector<std::array<float, 4>>>;

// =================================================================================================

struct PoseBatch2DView
{
    const float *data = nullptr;
    const uint32_t *person_counts = nullptr;
    size_t num_views = 0;
    size_t max_persons = 0;
    size_t num_joints = 0;

    const float &at(size_t view, size_t person, size_t joint, size_t coord) const;
};

struct PoseBatch2D
{
    std::vector<float> data;
    std::vector<uint32_t> person_counts;
    size_t num_views = 0;
    size_t max_persons = 0;
    size_t num_joints = 0;

    float &at(size_t view, size_t person, size_t joint, size_t coord);
    const float &at(size_t view, size_t person, size_t joint, size_t coord) const;
    PoseBatch2DView view() const;

    static PoseBatch2D from_nested(const RaggedPoses2D &poses_2d);
};

struct PoseBatch3D
{
    std::vector<float> data;
    size_t num_persons = 0;
    size_t num_joints = 0;

    float &at(size_t person, size_t joint, size_t coord);
    const float &at(size_t person, size_t joint, size_t coord) const;

    NestedPoses3D to_nested() const;
    static PoseBatch3D from_nested(const NestedPoses3D &poses_3d);
};

// =================================================================================================

/**
 * Calculate a triangulation using a padded pose tensor.
 *
 * @param poses_2d Padded poses of shape [views, max_persons, joints, 3].
 * @param cameras List of cameras.
 * @param roomparams Room parameters (room size, room center).
 * @param joint_names List of 2D joint names.
 * @param min_match_score Minimum score to consider a triangulated joint as valid.
 * @param min_group_size Minimum number of camera pairs that need to see a person.
 *
 * @return Pose tensor of shape [persons, joints, 4].
 */
PoseBatch3D triangulate_poses(
    const PoseBatch2DView &poses_2d,
    const std::vector<Camera> &cameras,
    const std::array<std::array<float, 3>, 2> &roomparams,
    const std::vector<std::string> &joint_names,
    float min_match_score = 0.95f,
    size_t min_group_size = 1);

inline PoseBatch3D triangulate_poses(
    const PoseBatch2D &poses_2d,
    const std::vector<Camera> &cameras,
    const std::array<std::array<float, 3>, 2> &roomparams,
    const std::vector<std::string> &joint_names,
    float min_match_score = 0.95f,
    size_t min_group_size = 1)
{
    return triangulate_poses(
        poses_2d.view(), cameras, roomparams, joint_names, min_match_score, min_group_size);
}