/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#include <rtabmap/core/StereoCameraModel.h>
#include <rtabmap/core/Version.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UDirectory.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/utilite/UConversion.h>
#include <opencv2/imgproc/imgproc.hpp>

#if (CV_MAJOR_VERSION > 2 and CV_MAJOR_VERSION < 5) or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10)))
#include <rtabmap/core/stereo/stereoRectifyFisheye.h>
#endif

namespace rtabmap {

StereoCameraModel::StereoCameraModel(
		const std::string & name,
		const cv::Size & imageSize1,
		const cv::Mat & K1, const cv::Mat & D1, const cv::Mat & R1, const cv::Mat & P1,
		const cv::Size & imageSize2,
		const cv::Mat & K2, const cv::Mat & D2, const cv::Mat & R2, const cv::Mat & P2,
		const cv::Mat & R, const cv::Mat & T, const cv::Mat & E, const cv::Mat & F,
		const Transform & localTransform) :
				leftSuffix_("left"),
				rightSuffix_("right"),
				left_(name+"_"+leftSuffix_, imageSize1, K1, D1, R1, P1, localTransform),
				right_(name+"_"+rightSuffix_, imageSize2, K2, D2, R2, P2, localTransform),
				name_(name),
				R_(R),
				T_(T),
				E_(E),
				F_(F)
{
	UASSERT(R_.empty() || (R_.rows == 3 && R_.cols == 3 && R_.type() == CV_64FC1));
	UASSERT(T_.empty() || (T_.rows == 3 && T_.cols == 1 && T_.type() == CV_64FC1));
	UASSERT(E_.empty() || (E_.rows == 3 && E_.cols == 3 && E_.type() == CV_64FC1));
	UASSERT(F_.empty() || (F_.rows == 3 && F_.cols == 3 && F_.type() == CV_64FC1));
}

StereoCameraModel::StereoCameraModel(
		const std::string & name,
		const CameraModel & leftCameraModel,
		const CameraModel & rightCameraModel,
		const cv::Mat & R,
		const cv::Mat & T,
		const cv::Mat & E,
		const cv::Mat & F) :
				leftSuffix_("left"),
				rightSuffix_("right"),
				left_(leftCameraModel),
				right_(rightCameraModel),
				name_(name),
				R_(R),
				T_(T),
				E_(E),
				F_(F)
{
	left_.setName(name+"_"+getLeftSuffix());
	right_.setName(name+"_"+getRightSuffix());
	UASSERT(R_.empty() || (R_.rows == 3 && R_.cols == 3 && R_.type() == CV_64FC1));
	UASSERT(T_.empty() || (T_.rows == 3 && T_.cols == 1 && T_.type() == CV_64FC1));
	UASSERT(E_.empty() || (E_.rows == 3 && E_.cols == 3 && E_.type() == CV_64FC1));
	UASSERT(F_.empty() || (F_.rows == 3 && F_.cols == 3 && F_.type() == CV_64FC1));

	if(!R_.empty() && !T_.empty())
	{
		UASSERT(leftCameraModel.isValidForRectification() && rightCameraModel.isValidForRectification());

		if(left_.imageWidth() == right_.imageWidth() && left_.imageHeight() == right_.imageHeight())
		{
			updateStereoRectification();
		}
	}
}

StereoCameraModel::StereoCameraModel(
		const std::string & name,
		const CameraModel & leftCameraModel,
		const CameraModel & rightCameraModel,
		const Transform & extrinsics) :
				leftSuffix_("left"),
				rightSuffix_("right"),
				left_(leftCameraModel),
				right_(rightCameraModel),
				name_(name)
{
	left_.setName(name+"_"+getLeftSuffix());
	right_.setName(name+"_"+getRightSuffix());

	if(!extrinsics.isNull())
	{
		UASSERT(leftCameraModel.isValidForRectification() && rightCameraModel.isValidForRectification());

		extrinsics.rotationMatrix().convertTo(R_, CV_64FC1);
		extrinsics.translationMatrix().convertTo(T_, CV_64FC1);

		if(left_.imageWidth() == right_.imageWidth() && left_.imageHeight() == right_.imageHeight())
		{
			updateStereoRectification();
		}
	}
}

StereoCameraModel::StereoCameraModel(
		double fx,
		double fy,
		double cx,
		double cy,
		double baseline,
		const Transform & localTransform,
		const cv::Size & imageSize) :
				leftSuffix_("left"),
				rightSuffix_("right"),
				left_(fx, fy, cx, cy, localTransform, 0, imageSize),
				right_(fx, fy, cx, cy, localTransform, baseline*-fx, imageSize)
{
}

//minimal to be saved
StereoCameraModel::StereoCameraModel(
		const std::string & name,
		double fx,
		double fy,
		double cx,
		double cy,
		double baseline,
		const Transform & localTransform,
		const cv::Size & imageSize) :
				leftSuffix_("left"),
				rightSuffix_("right"),
				left_(name+"_"+getLeftSuffix(), fx, fy, cx, cy, localTransform, 0, imageSize),
				right_(name+"_"+getRightSuffix(), fx, fy, cx, cy, localTransform, baseline*-fx, imageSize),
				name_(name)
{
}

void StereoCameraModel::setName(const std::string & name, const std::string & leftSuffix, const std::string & rightSuffix)
{
	name_=name;
	leftSuffix_ = leftSuffix;
	rightSuffix_ = rightSuffix;
	left_.setName(name_+"_"+getLeftSuffix());
	right_.setName(name_+"_"+getRightSuffix());
}

void StereoCameraModel::updateStereoRectification()
{
	cv::Mat R1,R2,P1,P2,Q;
	#if CV_MAJOR_VERSION > 2 or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10)))
	bool fishEye = left_.D_raw().cols == 6;
	// calibrate extrinsic
	if(fishEye)
	{
		cv::Vec4d D_left(left_.D_raw().at<double>(0,0), left_.D_raw().at<double>(0,1), left_.D_raw().at<double>(0,4), left_.D_raw().at<double>(0,5));
		cv::Vec4d D_right(right_.D_raw().at<double>(0,0), right_.D_raw().at<double>(0,1), right_.D_raw().at<double>(0,4), right_.D_raw().at<double>(0,5));
#if CV_MAJOR_VERSION < 5
		stereoRectifyFisheye(
				left_.K_raw(), D_left,
				right_.K_raw(), D_right,
				left_.imageSize(), R_, T_, R1, R2, P1, P2, Q,
				cv::CALIB_ZERO_DISPARITY, 0, left_.imageSize());
#else
		double balance = 0.0, fov_scale = 1.0;
		cv::fisheye::stereoRectify(
				left_.K_raw(), D_left,
				right_.K_raw(), D_right,
				left_.imageSize(), R_, T_, R1, R2, P1, P2, Q,
				cv::CALIB_ZERO_DISPARITY, left_.imageSize(), balance, fov_scale);
#endif

		// Re-zoom to original focal distance
		if(P1.at<double>(0,0) < 0)
		{
			P1.at<double>(0,0) *= -1;
			P1.at<double>(1,1) *= -1;
		}
		if(P2.at<double>(0,0) < 0)
		{
			P2.at<double>(0,0) *= -1;
			P2.at<double>(1,1) *= -1;
		}
		if(P2.at<double>(0,3) > 0)
		{
			P2.at<double>(0,3) *= -1;
		}
		P2.at<double>(0,3) = P2.at<double>(0,3) * left_.K_raw().at<double>(0,0) / P2.at<double>(0,0);
		P1.at<double>(0,0) = P1.at<double>(1,1) = left_.K_raw().at<double>(0,0);
		P2.at<double>(0,0) = P2.at<double>(1,1) = left_.K_raw().at<double>(0,0);
	}
	else
#endif
	{

		cv::stereoRectify(
				left_.K_raw(), left_.D_raw(),
				right_.K_raw(), right_.D_raw(),
				left_.imageSize(), R_, T_, R1, R2, P1, P2, Q,
				cv::CALIB_ZERO_DISPARITY, 0, left_.imageSize());
	}

	left_ = CameraModel(left_.name(), left_.imageSize(), left_.K_raw(), left_.D_raw(), R1, P1, left_.localTransform());
	right_ = CameraModel(right_.name(), right_.imageSize(), right_.K_raw(), right_.D_raw(), R2, P2, right_.localTransform());
}

bool StereoCameraModel::load(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform, bool initRectificationMaps)
{
	name_ = cameraName;
	bool leftLoaded = left_.load(directory, cameraName+"_"+getLeftSuffix(), initRectificationMaps);
	bool rightLoaded = right_.load(directory, cameraName+"_"+getRightSuffix(), initRectificationMaps);
	if(leftLoaded && rightLoaded)
	{
		if(ignoreStereoTransform)
		{
			return true;
		}
		//load rotation, translation
		R_ = cv::Mat();
		T_ = cv::Mat();
		E_ = cv::Mat();
		F_ = cv::Mat();

		std::string filePath = directory+"/"+cameraName+"_pose.yaml";
		if(UFile::exists(filePath))
		{
			UINFO("Reading stereo calibration file \"%s\"", filePath.c_str());
			cv::FileStorage fs(filePath, cv::FileStorage::READ);

			cv::FileNode n;

			n = fs["camera_name"];
			if(n.type() != cv::FileNode::NONE)
			{
				name_ = n.string();
			}
			else
			{
				UWARN("Missing \"camera_name\" field in \"%s\"", filePath.c_str());
			}

			// import from ROS calibration format
			n = fs["rotation_matrix"];
			if(n.type() != cv::FileNode::NONE)
			{
				int rows = (int)n["rows"];
				int cols = (int)n["cols"];
				std::vector<double> data;
				n["data"] >> data;
				UASSERT(rows*cols == (int)data.size());
				UASSERT(rows == 3 && cols == 3);
				R_ = cv::Mat(rows, cols, CV_64FC1, data.data()).clone();
			}
			else
			{
				UWARN("Missing \"rotation_matrix\" field in \"%s\"", filePath.c_str());
			}

			n = fs["translation_matrix"];
			if(n.type() != cv::FileNode::NONE)
			{
				int rows = (int)n["rows"];
				int cols = (int)n["cols"];
				std::vector<double> data;
				n["data"] >> data;
				UASSERT(rows*cols == (int)data.size());
				UASSERT(rows == 3 && cols == 1);
				T_ = cv::Mat(rows, cols, CV_64FC1, data.data()).clone();
			}
			else
			{
				UWARN("Missing \"translation_matrix\" field in \"%s\"", filePath.c_str());
			}

			n = fs["essential_matrix"];
			if(n.type() != cv::FileNode::NONE)
			{
				int rows = (int)n["rows"];
				int cols = (int)n["cols"];
				std::vector<double> data;
				n["data"] >> data;
				UASSERT(rows*cols == (int)data.size());
				UASSERT(rows == 3 && cols == 3);
				E_ = cv::Mat(rows, cols, CV_64FC1, data.data()).clone();
			}
			else
			{
				UWARN("Missing \"essential_matrix\" field in \"%s\"", filePath.c_str());
			}

			n = fs["fundamental_matrix"];
			if(n.type() != cv::FileNode::NONE)
			{
				int rows = (int)n["rows"];
				int cols = (int)n["cols"];
				std::vector<double> data;
				n["data"] >> data;
				UASSERT(rows*cols == (int)data.size());
				UASSERT(rows == 3 && cols == 3);
				F_ = cv::Mat(rows, cols, CV_64FC1, data.data()).clone();
			}
			else
			{
				UWARN("Missing \"fundamental_matrix\" field in \"%s\"", filePath.c_str());
			}

			fs.release();

			return true;
		}
		else
		{
			UWARN("Could not load stereo calibration file \"%s\".", filePath.c_str());
		}
	}
	return false;
}
bool StereoCameraModel::save(const std::string & directory, bool ignoreStereoTransform) const
{
	if(left_.save(directory) && right_.save(directory))
	{
		if(ignoreStereoTransform)
		{
			return true;
		}
		return saveStereoTransform(directory);
	}
	return false;
}

bool StereoCameraModel::saveStereoTransform(const std::string & directory) const
{
	std::string filePath = directory+"/"+name_+"_pose.yaml";
	if(!filePath.empty() && (!R_.empty() && !T_.empty()))
	{
		UINFO("Saving stereo calibration to file \"%s\"", filePath.c_str());
		cv::FileStorage fs(filePath, cv::FileStorage::WRITE);

		// export in ROS calibration format

		if(!name_.empty())
		{
			fs << "camera_name" << name_;
		}

		if(!R_.empty())
		{
			fs << "rotation_matrix" << "{";
			fs << "rows" << R_.rows;
			fs << "cols" << R_.cols;
			fs << "data" << std::vector<double>((double*)R_.data, ((double*)R_.data)+(R_.rows*R_.cols));
			fs << "}";
		}

		if(!T_.empty())
		{
			fs << "translation_matrix" << "{";
			fs << "rows" << T_.rows;
			fs << "cols" << T_.cols;
			fs << "data" << std::vector<double>((double*)T_.data, ((double*)T_.data)+(T_.rows*T_.cols));
			fs << "}";
		}

		if(!E_.empty())
		{
			fs << "essential_matrix" << "{";
			fs << "rows" << E_.rows;
			fs << "cols" << E_.cols;
			fs << "data" << std::vector<double>((double*)E_.data, ((double*)E_.data)+(E_.rows*E_.cols));
			fs << "}";
		}

		if(!F_.empty())
		{
			fs << "fundamental_matrix" << "{";
			fs << "rows" << F_.rows;
			fs << "cols" << F_.cols;
			fs << "data" << std::vector<double>((double*)F_.data, ((double*)F_.data)+(F_.rows*F_.cols));
			fs << "}";
		}

		fs.release();

		return true;
	}
	else
	{
		UERROR("Failed saving stereo extrinsics (they are null):");
		std::cout << "R= " << R_ << std::endl;
		std::cout << "T= " << T_ << std::endl;
		std::cout << "E= " << T_ << std::endl;
		std::cout << "F= " << F_ << std::endl;
	}
	return false;
}

std::vector<unsigned char> StereoCameraModel::serialize() const
{
	std::vector<unsigned char> leftData = left_.serialize();
	std::vector<unsigned char> rightData = right_.serialize();

	const int headerSize = 10;
	int header[headerSize] = {
			RTABMAP_VERSION_MAJOR, RTABMAP_VERSION_MINOR, RTABMAP_VERSION_PATCH, // 0,1,2
			1, //stereo                                                          // 3
			(int)R_.total(), (int)T_.total(), (int)E_.total(), (int)F_.total(),  // 4,5,6,7
			(int)leftData.size(), (int)rightData.size()};                        // 8,9
	UDEBUG("Header: %d %d %d %d %d %d %d %d %d %d", header[0],header[1],header[2],header[3],header[4],header[5],header[6],header[7],header[8],header[9]);
	std::vector<unsigned char> data(
			sizeof(int)*headerSize +
			sizeof(double)*(R_.total()+T_.total()+E_.total()+F_.total()) +
			leftData.size() + rightData.size());
	memcpy(data.data(), header, sizeof(int)*headerSize);
	int index = sizeof(int)*headerSize;
	if(!R_.empty())
	{
		memcpy(data.data()+index, R_.data, sizeof(double)*(R_.total()));
		index+=sizeof(double)*(R_.total());
	}
	if(!T_.empty())
	{
		memcpy(data.data()+index, T_.data, sizeof(double)*(T_.total()));
		index+=sizeof(double)*(T_.total());
	}
	if(!E_.empty())
	{
		memcpy(data.data()+index, E_.data, sizeof(double)*(E_.total()));
		index+=sizeof(double)*(E_.total());
	}
	if(!F_.empty())
	{
		memcpy(data.data()+index, F_.data, sizeof(double)*(F_.total()));
		index+=sizeof(double)*(F_.total());
	}
	if(leftData.size())
	{
		memcpy(data.data()+index, leftData.data(), leftData.size());
		index+=leftData.size();
	}
	if(rightData.size())
	{
		memcpy(data.data()+index, rightData.data(), rightData.size());
		index+=rightData.size();
	}
	return data;
}

unsigned int StereoCameraModel::deserialize(const std::vector<unsigned char>& data)
{
	return deserialize(data.data(), data.size());
}
unsigned int StereoCameraModel::deserialize(const unsigned char * data, unsigned int dataSize)
{
	*this = StereoCameraModel();
	int headerSize = 10;
	if(dataSize >= sizeof(int)*headerSize)
	{
		int iR = 4;
		int iT = 5;
		int iE = 6;
		int iF = 7;
		int iLeft = 8;
		int iRight = 9;
		const int * header = (const int *)data;
		UDEBUG("Header: %d %d %d %d %d %d %d %d %d %d", header[0],header[1],header[2],header[3],header[4],header[5],header[6],header[7],header[8],header[9]);
		int type = header[3];
		if(type==1)
		{
			unsigned int requiredDataSize = sizeof(int)*headerSize +
					sizeof(double)*(header[iR]+header[iT]+header[iE]+header[iF]) +
					header[iLeft] + header[iRight];
			UASSERT_MSG(dataSize >= requiredDataSize,
					uFormat("dataSize=%d != required=%d (header: version %d.%d.%d type=%d R=%d T=%d E=%d F=%d Left=%d Right=%d)",
							dataSize,
							requiredDataSize,
							header[0], header[1], header[2], header[3],
							header[iR], header[iT], header[iE],header[iF], header[iLeft], header[iRight]).c_str());

			unsigned int index = sizeof(int)*headerSize;

			if(header[iR] != 0)
			{
				UASSERT(header[iR] == 9);
				R_ = cv::Mat(3, 3, CV_64FC1, (void*)(data+index)).clone();
				index+=sizeof(double)*(R_.total());
			}

			if(header[iT] != 0)
			{
				UASSERT(header[iT] == 3);
				T_ = cv::Mat(3, 1, CV_64FC1, (void*)(data+index)).clone();
				index+=sizeof(double)*(T_.total());
			}

			if(header[iE] != 0)
			{
				UASSERT(header[iE] == 9);
				E_ = cv::Mat(3, 3, CV_64FC1, (void*)(data+index)).clone();
				index+=sizeof(double)*(E_.total());
			}

			if(header[iF] != 0)
			{
				UASSERT(header[iF] == 9);
				F_ = cv::Mat(3, 3, CV_64FC1, (void*)(data+index)).clone();
				index+=sizeof(double)*(F_.total());
			}

			if(header[iLeft] != 0)
			{
				index += left_.deserialize((data+index), header[iLeft]);
			}

			if(header[iRight] != 0)
			{
				index += right_.deserialize((data+index), header[iRight]);
			}

			UASSERT(index <= dataSize);

			return index;
		}
		else
		{
			UERROR("Serialized calibration is not stereo (type=%d), use the appropriate class matching the type to deserialize.", type);
		}
	}
	UERROR("Wrong serialized calibration data format detected (size in bytes=%d)! Cannot deserialize the data.", (int)dataSize);
	return 0;
}

void StereoCameraModel::scale(double scale)
{
	left_ = left_.scaled(scale);
	right_ = right_.scaled(scale);
}

void StereoCameraModel::roi(const cv::Rect & roi)
{
	left_ = left_.roi(roi);
	right_ = right_.roi(roi);
}

float StereoCameraModel::computeDepth(float disparity) const
{
	//depth = baseline * f / (disparity + cx1-cx0);
	UASSERT(this->isValidForProjection());
	if(disparity == 0.0f)
	{
		return 0.0f;
	}
	return baseline() * left().fx() / (disparity + right().cx() - left().cx());
}

float StereoCameraModel::computeDisparity(float depth) const
{
	// disparity = (baseline * fx / depth) - (cx1-cx0);
	UASSERT(this->isValidForProjection());
	if(depth == 0.0f)
	{
		return 0.0f;
	}
	return baseline() * left().fx() / depth - right().cx() + left().cx();
}

float StereoCameraModel::computeDisparity(unsigned short depth) const
{
	// disparity = (baseline * fx / depth) - (cx1-cx0);
	UASSERT(this->isValidForProjection());
	if(depth == 0)
	{
		return 0.0f;
	}
	return baseline() * left().fx() / (float(depth)/1000.0f) - right().cx() + left().cx();
}

Transform StereoCameraModel::stereoTransform() const
{
	if(!R_.empty() && !T_.empty())
	{
		return Transform(
				R_.at<double>(0,0), R_.at<double>(0,1), R_.at<double>(0,2), T_.at<double>(0),
				R_.at<double>(1,0), R_.at<double>(1,1), R_.at<double>(1,2), T_.at<double>(1),
				R_.at<double>(2,0), R_.at<double>(2,1), R_.at<double>(2,2), T_.at<double>(2));
	}
	return Transform();
}

std::ostream& operator<<(std::ostream& os, const StereoCameraModel& model)
{
	os << "Left Camera " << model.left() << std::endl
	   << "Right Camera " << model.right() << std::endl
	   << "Stereo Extrinsics:" << std::endl
	   << "R= " << model.R() << std::endl
	   << "T= " << model.T() << std::endl
	   << "E= " << model.E() << std::endl
	   << "F= "<< model.F() << std::endl
	   << "baseline= " << model.baseline() << std::endl;
	return os;
}

} /* namespace rtabmap */