#include <iomanip>
#include <sstream>

#include "camera.hpp"

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

template <size_t M, size_t N>
static const std::string print_matrix(const std::array<std::array<float, N>, M> &matrix)
{
    std::ostringstream out;
    out << "[";
    for (size_t j = 0; j < M; ++j)
    {
        out << "[";
        for (size_t i = 0; i < N; ++i)
        {
            out << matrix[j][i];
            if (i < N - 1)
            {
                out << ", ";
            }
        }
        out << "]";
        if (j < M - 1)
        {
            out << ", ";
        }
    }
    out << "]";
    return out.str();
}

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

std::string Camera::to_string() const
{
    std::ostringstream out;
    out << std::fixed << std::setprecision(6);

    out << "{";
    out << "'name': '" << name << "', ";

    out << "'K': " << print_matrix(K) << ", ";

    out << "'DC': [";
    for (size_t i = 0; i < DC.size(); ++i)
    {
        out << DC[i];
        if (i < DC.size() - 1)
            out << ", ";
    }
    out << "], ";

    out << "'R': " << print_matrix(R) << ", ";
    out << "'T': " << print_matrix(T) << ", ";
    out << "'P': " << print_matrix(P) << ", ";

    out << "'width': " << width << ", ";
    out << "'height': " << height << ", ";
    out << "'type': " << type;

    out << "}";
    return out.str();
}

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

std::ostream &operator<<(std::ostream &out, const Camera &cam)
{
    out << cam.to_string();
    return out;
}