// This file is part of the AliceVision project.
// Copyright (c) 2015 AliceVision contributors.
// This Source Code Form is subject to the terms of the Mozilla Public License,
// v. 2.0. If a copy of the MPL was not distributed with this file,
// You can obtain one at https://mozilla.org/MPL/2.0/.

#include "VideoFeed.hpp"

#include <aliceVision/system/Logger.hpp>
#include <aliceVision/image/conversion.hpp>
#include <aliceVision/image/io.hpp>
#include <aliceVision/camera/Pinhole.hpp>

#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/core/eigen.hpp>
#include <opencv2/videoio.hpp>

#include <iostream>
#include <exception>

namespace aliceVision {
namespace dataio {

class VideoFeed::FeederImpl
{
  public:
    FeederImpl()
      : _isInit(false)
    {}

    FeederImpl(const std::string& videoPath, const std::string& calibPath);

    FeederImpl(int videoDevice, const std::string& calibPath);

    bool isInit() const { return _isInit; }

    bool readImage(image::Image<image::RGBColor>& imageRGB, camera::Pinhole& camIntrinsics, std::string& mediaPath, bool& hasIntrinsics);

    bool readImage(image::Image<float>& imageGray, camera::Pinhole& camIntrinsics, std::string& mediaPath, bool& hasIntrinsics);

    bool readImage(image::Image<unsigned char>& imageGray, camera::Pinhole& camIntrinsics, std::string& mediaPath, bool& hasIntrinsics);

    bool goToFrame(const unsigned int frame);

    bool goToNextFrame();

    std::size_t nbFrames() const;

  private:
    bool _isInit;
    bool _isLive;
    bool _withIntrinsics;
    std::string _videoPath;
    cv::VideoCapture _videoCapture;
    camera::Pinhole _camIntrinsics;
};

VideoFeed::FeederImpl::FeederImpl(const std::string& videoPath, const std::string& calibPath)
  : _isInit(false),
    _isLive(false),
    _withIntrinsics(false),
    _videoPath(videoPath)
{
    // load the video
    _videoCapture.open(videoPath);
    if (!_videoCapture.isOpened())
    {
        ALICEVISION_LOG_WARNING("Unable to open the video : " << videoPath);
        throw std::invalid_argument("Unable to open the video : " + videoPath);
    }
    // Grab frame 0, so we can call readImage.
    goToFrame(0);

    // load the calibration path
    _withIntrinsics = !calibPath.empty();
    if (_withIntrinsics)
        readCalibrationFromFile(calibPath, _camIntrinsics);

    _isInit = true;
}

VideoFeed::FeederImpl::FeederImpl(int videoDevice, const std::string& calibPath)
  : _isInit(false),
    _isLive(true),
    _withIntrinsics(false),
    _videoPath(std::to_string(videoDevice))
{
    // load the video
    _videoCapture.open(videoDevice);
    if (!_videoCapture.isOpened())
    {
        ALICEVISION_LOG_WARNING("Unable to open the video : " << _videoPath);
        throw std::invalid_argument("Unable to open the video : " + _videoPath);
    }

    goToNextFrame();

    // load the calibration path
    _withIntrinsics = !calibPath.empty();
    if (_withIntrinsics)
        readCalibrationFromFile(calibPath, _camIntrinsics);

    _isInit = true;
}

bool VideoFeed::FeederImpl::readImage(image::Image<image::RGBColor>& imageRGB,
                                      camera::Pinhole& camIntrinsics,
                                      std::string& mediaPath,
                                      bool& hasIntrinsics)
{
    cv::Mat frame;
    const bool grabStatus = _videoCapture.retrieve(frame);

    if (!grabStatus || !frame.data)
    {
        return false;
    }

    if (frame.channels() == 3)
    {
        cv::Mat color;
        resize(frame, color, cv::Size(frame.cols, frame.rows));

        cv::cvtColor(frame, color, cv::COLOR_BGR2RGB);
        imageRGB.resize(color.cols, color.rows);

        unsigned char* pixelPtr = (unsigned char*)color.data;
        for (int i = 0; i < color.rows; i++)
        {
            for (int j = 0; j < color.cols; j++)
            {
                const size_t index = i * color.cols * 3 + j * 3;
                imageRGB(i, j) = image::RGBColor(pixelPtr[index], pixelPtr[index + 1], pixelPtr[index + 2]);
            }
        }
    }
    else
    {
        ALICEVISION_LOG_WARNING("Error can't read RGB frame " << _videoPath);
        throw std::invalid_argument("Error can't read RGB frame " + _videoPath);
    }

    hasIntrinsics = _withIntrinsics;
    if (_withIntrinsics)
        camIntrinsics = _camIntrinsics;

    mediaPath = _videoPath;
    return true;
}

bool VideoFeed::FeederImpl::readImage(image::Image<float>& imageGray, camera::Pinhole& camIntrinsics, std::string& mediaPath, bool& hasIntrinsics)
{
    image::Image<unsigned char> imageGrayUChar;
    if (FeederImpl::readImage(imageGrayUChar, camIntrinsics, mediaPath, hasIntrinsics))
    {
        imageGray = (imageGrayUChar.getMat().cast<float>() / 255.f);
        return true;
    }
    return false;
}

bool VideoFeed::FeederImpl::readImage(image::Image<unsigned char>& imageGray,
                                      camera::Pinhole& camIntrinsics,
                                      std::string& mediaPath,
                                      bool& hasIntrinsics)
{
    cv::Mat frame;
    const bool grabStatus = _videoCapture.retrieve(frame);

    if (!grabStatus || !frame.data)
    {
        return false;
    }

    if (frame.channels() == 3)
    {
        // convert to gray
        cv::Mat grey;
        cv::cvtColor(frame, grey, cv::COLOR_BGR2GRAY);
        imageGray.resize(grey.cols, grey.rows);
        cv::cv2eigen(grey, imageGray);
        //      ALICEVISION_LOG_DEBUG(grey.channels() << " " << grey.rows << " " << grey.cols);
        //      ALICEVISION_LOG_DEBUG(imageGray.Depth() << " " << imageGray.height() << " " << imageGray.width());
    }
    else
    {
        cv::cv2eigen(frame, imageGray);
    }

    hasIntrinsics = _withIntrinsics;
    if (_withIntrinsics)
        camIntrinsics = _camIntrinsics;

    mediaPath = _videoPath;
    return true;
}

std::size_t VideoFeed::FeederImpl::nbFrames() const
{
    if (!_videoCapture.isOpened())
    {
        ALICEVISION_LOG_WARNING("The video file could not be opened.");
        return 0;
    }
    return _videoCapture.get(cv::CAP_PROP_FRAME_COUNT);
}

bool VideoFeed::FeederImpl::goToFrame(const unsigned int frame)
{
    if (!_videoCapture.isOpened())
    {
        ALICEVISION_LOG_WARNING("We cannot open the video file.");
        return false;
    }

    if (_isLive)
        return goToNextFrame();

    _videoCapture.set(cv::CAP_PROP_POS_FRAMES, frame);
    return _videoCapture.grab();
}

bool VideoFeed::FeederImpl::goToNextFrame() { return _videoCapture.grab(); }

/*******************************************************************************/
/*                                 VideoFeed                                   */
/*******************************************************************************/

VideoFeed::VideoFeed()
  : _feeder(new FeederImpl())
{}

VideoFeed::VideoFeed(const std::string& videoPath, const std::string& calibPath)
  : _feeder(new FeederImpl(videoPath, calibPath))
{}

VideoFeed::VideoFeed(int videoDevice, const std::string& calibPath)
  : _feeder(new FeederImpl(videoDevice, calibPath))
{}

bool VideoFeed::readImage(image::Image<image::RGBColor>& imageRGB, camera::Pinhole& camIntrinsics, std::string& mediaPath, bool& hasIntrinsics)
{
    return (_feeder->readImage(imageRGB, camIntrinsics, mediaPath, hasIntrinsics));
}

bool VideoFeed::readImage(image::Image<float>& imageGray, camera::Pinhole& camIntrinsics, std::string& mediaPath, bool& hasIntrinsics)
{
    return (_feeder->readImage(imageGray, camIntrinsics, mediaPath, hasIntrinsics));
}

bool VideoFeed::readImage(image::Image<unsigned char>& imageGray, camera::Pinhole& camIntrinsics, std::string& mediaPath, bool& hasIntrinsics)
{
    return (_feeder->readImage(imageGray, camIntrinsics, mediaPath, hasIntrinsics));
}

std::size_t VideoFeed::nbFrames() const { return _feeder->nbFrames(); }

bool VideoFeed::goToFrame(const unsigned int frame) { return _feeder->goToFrame(frame); }

bool VideoFeed::goToNextFrame() { return _feeder->goToNextFrame(); }

bool VideoFeed::isInit() const { return (_feeder->isInit()); }

bool VideoFeed::isSupported(const std::string& extension) { return image::isVideoExtension(extension); }

VideoFeed::~VideoFeed() {}

}  // namespace dataio
}  // namespace aliceVision
