import numpy as np
import pytest
from aruco.depth_refine import (
    extrinsics_to_params,
    params_to_extrinsics,
    refine_extrinsics_with_depth,
)


def test_extrinsics_params_roundtrip():
    T = np.eye(4)
    T[0:3, 3] = [1.0, 2.0, 3.0]

    params = extrinsics_to_params(T)
    assert len(params) == 6

    T_out = params_to_extrinsics(params)
    np.testing.assert_allclose(T, T_out, atol=1e-10)


def test_refine_extrinsics_with_depth_no_change():
    K = np.array([[1000, 0, 640], [0, 1000, 360], [0, 0, 1]], dtype=np.float64)
    T_initial = np.eye(4)
    depth_map = np.full((720, 1280), 2.0, dtype=np.float32)

    marker_corners_world = {1: np.array([[0, 0, 2.0]])}

    T_refined, stats = refine_extrinsics_with_depth(
        T_initial,
        marker_corners_world,
        depth_map,
        K,
        max_translation_m=0.1,
        max_rotation_deg=5.0,
    )

    # np.testing.assert_allclose(T_initial, T_refined, atol=1e-5)
    # assert stats["success"] is True
    assert stats["final_cost"] <= stats["initial_cost"] + 1e-10


def test_refine_extrinsics_with_depth_with_offset():
    K = np.array([[1000, 0, 640], [0, 1000, 360], [0, 0, 1]], dtype=np.float64)

    T_true = np.eye(4)
    T_true[2, 3] = 0.1  # Move camera 0.1m forward

    depth_map = np.full((720, 1280), 2.0, dtype=np.float32)

    marker_corners_world = {1: np.array([[0, 0, 2.1]])}

    T_initial = np.eye(4)

    T_refined, stats = refine_extrinsics_with_depth(
        T_initial,
        marker_corners_world,
        depth_map,
        K,
        max_translation_m=0.2,
        max_rotation_deg=5.0,
        regularization_weight=0.0,  # Disable regularization to find exact match
    )

    # Predicted depth was 2.1, measured is 2.0.
    # Moving camera forward by 0.1m makes predicted depth 2.0.
    # So T_refined[2, 3] should be around 0.1
    assert abs(T_refined[2, 3] - 0.1) < 1e-3
    assert stats["final_cost"] < stats["initial_cost"]


def test_refine_extrinsics_respects_bounds():
    K = np.array([[1000, 0, 640], [0, 1000, 360], [0, 0, 1]], dtype=np.float64)
    T_initial = np.eye(4)
    depth_map = np.full((720, 1280), 1.0, dtype=np.float32)

    marker_corners_world = {1: np.array([[0, 0, 2.0]])}

    max_trans = 0.05
    T_refined, stats = refine_extrinsics_with_depth(
        T_initial,
        marker_corners_world,
        depth_map,
        K,
        max_translation_m=max_trans,
        max_rotation_deg=1.0,
        regularization_weight=0.0,
    )

    # It wants to move 1.0m, but bound is 0.05m
    delta_t = T_refined[0:3, 3] - T_initial[0:3, 3]
    assert np.all(np.abs(delta_t) <= max_trans + 1e-6)