import click
import json
import numpy as np
from pathlib import Path
from typing import Dict, Any, Optional
from loguru import logger
import sys

from aruco.ground_plane import (
    GroundPlaneConfig,
    refine_ground_from_depth,
    create_ground_diagnostic_plot,
    save_diagnostic_plot,
    Mat44,
)
from aruco.depth_save import load_depth_data
from aruco.icp_registration import refine_with_icp, ICPConfig


@click.command()
@click.option(
    "--input-extrinsics",
    "-i",
    required=True,
    type=click.Path(exists=True, dir_okay=False),
    help="Input extrinsics JSON file.",
)
@click.option(
    "--input-depth",
    "-d",
    required=True,
    type=click.Path(exists=True, dir_okay=False),
    help="Input depth HDF5 file.",
)
@click.option(
    "--output-extrinsics",
    "-o",
    required=True,
    type=click.Path(dir_okay=False),
    help="Output extrinsics JSON file.",
)
@click.option(
    "--plot/--no-plot",
    default=True,
    help="Generate diagnostic plot.",
)
@click.option(
    "--plot-output",
    type=click.Path(dir_okay=False),
    help="Path for diagnostic plot HTML (defaults to output_extrinsics_base.html).",
)
@click.option(
    "--max-rotation-deg",
    default=5.0,
    help="Maximum allowed rotation correction in degrees.",
)
@click.option(
    "--max-translation-m",
    default=0.1,
    help="Maximum allowed translation correction in meters.",
)
@click.option(
    "--ransac-threshold",
    default=0.02,
    help="RANSAC distance threshold in meters.",
)
@click.option(
    "--min-inlier-ratio",
    default=0.0,
    help="Minimum ratio of inliers to total points (0.0-1.0).",
)
@click.option(
    "--height-range",
    nargs=2,
    type=float,
    default=(0.2, 5.0),
    help="Min and max height (depth) range in meters.",
)
@click.option(
    "--stride",
    default=8,
    help="Pixel stride for depth sampling.",
)
@click.option(
    "--seed",
    type=int,
    help="Random seed for RANSAC determinism.",
)
@click.option(
    "--icp/--no-icp",
    default=False,
    help="Enable ICP refinement after ground plane alignment.",
)
@click.option(
    "--icp-method",
    type=click.Choice(["point_to_plane", "gicp"]),
    default="point_to_plane",
    help="ICP registration method.",
)
@click.option(
    "--icp-voxel-size",
    type=float,
    default=0.02,
    help="Voxel size for ICP downsampling (meters).",
)
@click.option(
    "--icp-region",
    type=click.Choice(["floor", "hybrid", "full"]),
    default="hybrid",
    help="Region to use for ICP registration.",
)
@click.option(
    "--icp-global-init/--no-icp-global-init",
    default=False,
    help="Enable FPFH+RANSAC global pre-alignment.",
)
@click.option(
    "--icp-min-overlap",
    type=float,
    default=0.5,
    help="Minimum overlap area/volume to accept a pair.",
)
@click.option(
    "--icp-band-height",
    type=float,
    default=0.3,
    help="Height of the floor band (meters).",
)
@click.option(
    "--icp-robust-kernel",
    type=click.Choice(["none", "tukey"]),
    default="none",
    help="Robust kernel for ICP optimization.",
)
@click.option(
    "--icp-robust-k",
    type=float,
    default=0.1,
    help="Parameter k for robust kernel.",
)
@click.option(
    "--icp-depth-bias/--no-icp-depth-bias",
    default=True,
    help="Enable per-camera depth bias pre-correction.",
)
@click.option(
    "--icp-max-rotation-deg",
    default=10.0,
    help="Maximum allowed rotation correction for ICP in degrees.",
)
@click.option(
    "--icp-max-translation-m",
    default=0.3,
    help="Maximum allowed translation correction for ICP in meters.",
)
@click.option(
    "--debug/--no-debug",
    default=False,
    help="Enable debug logging.",
)
def main(
    input_extrinsics: str,
    input_depth: str,
    output_extrinsics: str,
    plot: bool,
    plot_output: Optional[str],
    max_rotation_deg: float,
    max_translation_m: float,
    ransac_threshold: float,
    min_inlier_ratio: float,
    height_range: tuple[float, float],
    stride: int,
    seed: Optional[int],
    icp: bool,
    icp_method: str,
    icp_voxel_size: float,
    icp_region: str,
    icp_global_init: bool,
    icp_min_overlap: float,
    icp_band_height: float,
    icp_robust_kernel: str,
    icp_robust_k: float,
    icp_depth_bias: bool,
    icp_max_rotation_deg: float,
    icp_max_translation_m: float,
    debug: bool,
):
    """
    Refine camera extrinsics by aligning the ground plane detected in depth maps.

    Loads existing extrinsics and depth data, detects the floor plane in each camera,
    and computes a correction transform to align the floor to Y=0.
    """
    # Configure logging
    logger.remove()
    logger.add(
        sys.stderr,
        level="DEBUG" if debug else "INFO",
        format="<green>{time:HH:mm:ss}</green> | <level>{message}</level>",
    )

    try:
        # 1. Load Extrinsics
        logger.info(f"Loading extrinsics from {input_extrinsics}")
        with open(input_extrinsics, "r") as f:
            extrinsics_data = json.load(f)

        # Parse extrinsics into Dict[str, Mat44]
        extrinsics: Dict[str, Mat44] = {}
        for serial, data in extrinsics_data.items():
            if serial == "_meta":
                continue
            if "pose" in data:
                pose_str = data["pose"]
                T = np.fromstring(pose_str, sep=" ").reshape(4, 4)
                extrinsics[serial] = T

        if not extrinsics:
            raise click.UsageError("No valid camera poses found in input extrinsics.")

        # 2. Load Depth Data
        logger.info(f"Loading depth data from {input_depth}")
        depth_data = load_depth_data(input_depth)

        # Prepare camera data for refinement
        camera_data_for_refine: Dict[str, Dict[str, Any]] = {}
        for serial, data in depth_data.items():
            # Use pooled depth if available, otherwise check raw frames
            depth_map = data.get("pooled_depth")
            if depth_map is None:
                # Fallback to first raw frame if available
                raw_frames = data.get("raw_frames", [])
                if raw_frames:
                    depth_map = raw_frames[0].get("depth_map")

            if depth_map is not None:
                camera_data_for_refine[serial] = {
                    "depth": depth_map,
                    "K": data["intrinsics"],
                }

        if not camera_data_for_refine:
            raise click.UsageError("No depth maps found in input depth file.")

        # 3. Configure Refinement
        config = GroundPlaneConfig(
            enabled=True,
            target_y=0.0,
            stride=stride,
            depth_min=height_range[0],
            depth_max=height_range[1],
            ransac_dist_thresh=ransac_threshold,
            max_rotation_deg=max_rotation_deg,
            max_translation_m=max_translation_m,
            min_inlier_ratio=min_inlier_ratio,
            seed=seed,
        )

        # 4. Run Refinement
        logger.info("Running ground plane refinement...")
        new_extrinsics, metrics = refine_ground_from_depth(
            camera_data_for_refine, extrinsics, config
        )

        logger.info(f"Refinement result: {metrics.message}")
        if metrics.success:
            logger.info(f"Max rotation: {metrics.rotation_deg:.2f} deg")
            logger.info(f"Max translation: {metrics.translation_m:.3f} m")

        # 4.5 Optional ICP Refinement
        icp_metrics = None
        if icp:
            logger.info(
                f"Running ICP refinement ({icp_method}, region={icp_region})..."
            )
            icp_config = ICPConfig(
                method=icp_method,
                voxel_size=icp_voxel_size,
                region=icp_region,
                global_init=icp_global_init,
                min_overlap_area=icp_min_overlap,
                band_height=icp_band_height,
                robust_kernel=icp_robust_kernel,
                robust_kernel_k=icp_robust_k,
                depth_bias=icp_depth_bias,
                max_rotation_deg=icp_max_rotation_deg,
                max_translation_m=icp_max_translation_m,
            )

            icp_extrinsics, icp_metrics = refine_with_icp(
                camera_data_for_refine,
                new_extrinsics,
                metrics.camera_planes,
                icp_config,
            )

            if icp_metrics.success:
                logger.info(f"ICP refinement successful: {icp_metrics.message}")
                if icp_metrics.depth_biases:
                    logger.info(
                        f"Estimated depth biases (m): {icp_metrics.depth_biases}"
                    )
                new_extrinsics = icp_extrinsics
            else:
                logger.warning(
                    f"ICP refinement failed or skipped: {icp_metrics.message}"
                )

        # 5. Save Output Extrinsics
        output_data = extrinsics_data.copy()

        per_camera_diagnostics = {}

        for serial, T_new in new_extrinsics.items():
            if serial in output_data:
                pose_str = " ".join(f"{x:.6f}" for x in T_new.flatten())
                output_data[serial]["pose"] = pose_str

                if serial in metrics.camera_corrections:
                    T_corr = metrics.camera_corrections[serial]
                    trace = np.trace(T_corr[:3, :3])
                    cos_angle = np.clip((trace - 1) / 2, -1.0, 1.0)
                    rot_deg = float(np.rad2deg(np.arccos(cos_angle)))
                    trans_m = float(np.linalg.norm(T_corr[:3, 3]))

                    per_camera_diagnostics[serial] = {
                        "corrected": True,
                        "delta_rot_deg": rot_deg,
                        "delta_trans_m": trans_m,
                    }
                else:
                    per_camera_diagnostics[serial] = {
                        "corrected": False,
                        "reason": "skipped_or_failed",
                    }

        if "_meta" not in output_data:
            output_data["_meta"] = {}

        output_data["_meta"]["ground_refined"] = {
            "timestamp": str(np.datetime64("now")),
            "config": {
                "max_rotation_deg": max_rotation_deg,
                "max_translation_m": max_translation_m,
                "ransac_threshold": ransac_threshold,
                "height_range": height_range,
            },
            "metrics": {
                "success": metrics.success,
                "num_cameras_total": metrics.num_cameras_total,
                "num_cameras_valid": metrics.num_cameras_valid,
                "correction_applied": metrics.correction_applied,
                "max_rotation_deg": metrics.rotation_deg,
                "max_translation_m": metrics.translation_m,
            },
            "per_camera": per_camera_diagnostics,
        }

        if icp_metrics:
            output_data["_meta"]["icp_refined"] = {
                "timestamp": str(np.datetime64("now")),
                "config": {
                    "method": icp_method,
                    "voxel_size": icp_voxel_size,
                    "region": icp_region,
                    "global_init": icp_global_init,
                    "min_overlap": icp_min_overlap,
                    "band_height": icp_band_height,
                    "robust_kernel": icp_robust_kernel,
                    "robust_kernel_k": icp_robust_k,
                    "depth_bias": icp_depth_bias,
                },
                "metrics": {
                    "success": icp_metrics.success,
                    "num_pairs_attempted": icp_metrics.num_pairs_attempted,
                    "num_pairs_converged": icp_metrics.num_pairs_converged,
                    "num_cameras_optimized": icp_metrics.num_cameras_optimized,
                    "num_disconnected": icp_metrics.num_disconnected,
                    "depth_biases": icp_metrics.depth_biases,
                    "message": icp_metrics.message,
                },
            }

        logger.info(f"Saving refined extrinsics to {output_extrinsics}")
        with open(output_extrinsics, "w") as f:
            json.dump(output_data, f, indent=4, sort_keys=True)

        # 6. Generate Plot (Optional)
        if plot:
            if not plot_output:
                plot_output = str(Path(output_extrinsics).with_suffix(".html"))

            logger.info(f"Generating diagnostic plot to {plot_output}")
            fig = create_ground_diagnostic_plot(
                metrics,
                camera_data_for_refine,
                extrinsics,  # before
                new_extrinsics,  # after
            )
            save_diagnostic_plot(fig, plot_output)

    except Exception as e:
        logger.error(f"Error: {e}")
        if debug:
            raise
        sys.exit(1)


if __name__ == "__main__":
    main()  # pylint: disable=no-value-for-parameter