import copy
import json
import os
import sys
import time

import matplotlib
import numpy as np

import utils_2d_pose
import utils_pipeline
from skelda import utils_pose, utils_view

sys.path.append("/RapidPoseTriangulation/swig/")
import rpt

# ==================================================================================================

filepath = os.path.dirname(os.path.realpath(__file__)) + "/"
test_img_dir = filepath + "../data/"
whole_body = {
    "foots": False,
    "face": False,
    "hands": False,
}

joint_names_2d = utils_pipeline.get_joint_names(whole_body)
joint_names_3d = list(joint_names_2d)


# ==================================================================================================


def update_sample(sample, new_dir=""):
    sample = copy.deepcopy(sample)

    # Rename image paths
    sample["imgpaths"] = [
        os.path.join(new_dir, os.path.basename(v)) for v in sample["imgpaths"]
    ]

    # Add placeholders for missing keys
    sample["cameras_color"] = sample["cameras"]
    sample["imgpaths_color"] = sample["imgpaths"]
    sample["cameras_depth"] = []

    return sample


# ==================================================================================================


def main():
    if any((whole_body[k] for k in whole_body)):
        kpt_model = utils_2d_pose.load_wb_model()
    else:
        kpt_model = utils_2d_pose.load_model(min_bbox_score=0.3)

    # Manually set matplotlib backend
    matplotlib.use("TkAgg")

    for dirname in sorted(os.listdir(test_img_dir)):
        dirpath = os.path.join(test_img_dir, dirname)

        if not os.path.isdir(dirpath):
            continue

        if (dirname[0] not in ["p", "h", "e", "q"]) or len(dirname) != 2:
            continue

        # Load sample infos
        print("\n" + dirpath)
        with open(os.path.join(dirpath, "sample.json"), "r", encoding="utf-8") as file:
            sample = json.load(file)
        sample = update_sample(sample, dirpath)

        camparams = sample["cameras_color"]
        roomparams = {
            "room_size": sample["room_size"],
            "room_center": sample["room_center"],
        }

        # Load color images
        images_2d = []
        for i in range(len(sample["cameras_color"])):
            imgpath = sample["imgpaths_color"][i]
            img = utils_pipeline.load_image(imgpath)
            img = utils_pipeline.rgb2bayer(img)
            img = utils_pipeline.bayer2rgb(img)
            images_2d.append(img)

        # Get 2D poses
        stime = time.time()
        poses_2d = utils_2d_pose.get_2d_pose(kpt_model, images_2d)
        poses_2d = utils_pipeline.update_keypoints(poses_2d, joint_names_2d, whole_body)
        print("2D time:", time.time() - stime)
        # print([np.array(p).round(6).tolist() for p in poses_2d])

        fig1 = utils_view.draw_many_images(
            sample["imgpaths_color"], [], [], poses_2d, joint_names_2d, "2D detections"
        )
        fig1.savefig(os.path.join(dirpath, "2d-k.png"), dpi=fig1.dpi)
        # draw_utils.utils_view.show_plots()

        if len(images_2d) == 1:
            utils_view.show_plots()
            continue

        # Get 3D poses
        if sum(np.sum(p) for p in poses_2d) == 0:
            poses3D = np.zeros([1, len(joint_names_3d), 4])
            poses2D = np.zeros([len(images_2d), 1, len(joint_names_3d), 3])
        else:
            cameras = rpt.convert_cameras(camparams)
            roomp = [roomparams["room_size"], roomparams["room_center"]]
            triangulator = rpt.Triangulator(min_match_score=0.94)

            stime = time.time()
            poses_3d = triangulator.triangulate_poses(
                poses_2d, cameras, roomp, joint_names_2d
            )
            poses3D = np.array(poses_3d)
            if len(poses3D) == 0:
                poses3D = np.zeros([1, len(joint_names_3d), 4])
            print("3D time:", time.time() - stime)

            poses2D = []
            for cam in camparams:
                poses_2d, _ = utils_pose.project_poses(poses3D, cam)
                poses2D.append(poses_2d)

        print(poses3D)
        # print(poses2D)
        # print(poses3D.round(3).tolist())

        fig2 = utils_view.draw_poses3d(poses3D, joint_names_3d, roomparams, camparams)
        fig3 = utils_view.draw_many_images(
            sample["imgpaths_color"], [], [], poses2D, joint_names_3d, "2D projections"
        )
        fig2.savefig(os.path.join(dirpath, "3d-p.png"), dpi=fig2.dpi)
        fig3.savefig(os.path.join(dirpath, "2d-p.png"), dpi=fig3.dpi)
        utils_view.show_plots()


# ==================================================================================================

if __name__ == "__main__":
    main()