#include "app_debug.h"
#include "GLFW/glfw3.h"

#include <opencv2/imgcodecs.hpp>
#include <opencv2/cudastereo.hpp>
#include <opencv2/cudaimgproc.hpp>

//app_debug::app_debug(const create_config &conf) {
//
//    auto left_path = "/home/tpx/project/DepthGuide/cmake-build-debug/Left.png";
//    auto right_path = "/home/tpx/project/DepthGuide/cmake-build-debug/Right.png";
//
//    auto left_img = cv::imread(left_path);
//    auto right_img = cv::imread(right_path);
//
//    auto left_img_cuda = cv::cuda::GpuMat();
//    auto right_img_cuda = cv::cuda::GpuMat();
//
//    left_img_cuda.upload(left_img);
//    right_img_cuda.upload(right_img);
//
//    // covert to gray
//    cv::cuda::cvtColor(left_img_cuda, left_img_cuda, cv::COLOR_RGB2GRAY);
//    cv::cuda::cvtColor(right_img_cuda, right_img_cuda, cv::COLOR_RGB2GRAY);
//
//    auto disparity_cuda = cv::cuda::GpuMat();
//    auto stereo = cv::cuda::createStereoSGM();
//    stereo->setNumDisparities(128);
////    stereo->setMode(cv::StereoSGBM::MODE_HH);
//    stereo->compute(left_img_cuda, right_img_cuda, disparity_cuda);
//
//    auto filter = cv::cuda::createDisparityBilateralFilter();
//    filter->setNumDisparities(128);
//    filter->setRadius(5);
//    filter->setNumIters(3);
//    filter->apply(disparity_cuda, left_img_cuda, disparity_cuda);
//
//    auto disparity = cv::Mat();
//    disparity_cuda.download(disparity);
//
//    double min_val, max_val;
//    cv::minMaxLoc(disparity, &min_val, &max_val);
//    SPDLOG_INFO("Min: {}, Max: {}", min_val, max_val);
//
//    auto tmp = cv::Mat();
//    disparity.convertTo(tmp, CV_32FC1);
//    tmp = (tmp - min_val) / (max_val - min_val) * 255.f;
//    tmp.convertTo(disparity, CV_8UC1);
//    cv::imwrite("disparity.png", disparity);
//
//    glfwSetWindowShouldClose(glfwGetCurrentContext(), true);
//}

#include "image_process/camera_calibrator.h"
#include "module/experiment/calib_eval.h"

app_debug::app_debug(const create_config &conf) {
    auto cam_info = camera_calibrator::result_type();
    auto calib_conf = camera_calibrator::create_config{
            .pattern_size = cv::Size(11, 8),
            .corner_distance = 5,
            .cb_func = [&](auto info) { cam_info = info; },
    };
    auto calib = std::make_unique<camera_calibrator>(calib_conf);

    auto sim_info = camera_calibrator::simulate_info_type{
            .data_path = "/home/tpx/project/DepthGuide/cmake-build-debug/exp-20240605/calib/calib_data_c1.txt",
            .img_size = cv::Size(1920, 1080),
    };
    calib->simulate_process(sim_info);

    std::string eval_path_list[] = {
            "/home/tpx/project/DepthGuide/cmake-build-debug/exp-20240605_bak/videos/Stable_Pose_1_1717595907048131",
            "/home/tpx/project/DepthGuide/cmake-build-debug/exp-20240605_bak/videos/Stable_Pose_2_1717596106615177",
            "/home/tpx/project/DepthGuide/cmake-build-debug/exp-20240605_bak/videos/Stable_Pose_3_1717596157508744",
            "/home/tpx/project/DepthGuide/cmake-build-debug/exp-20240605_bak/videos/Stable_Pose_4_1717596214643474",
            "/home/tpx/project/DepthGuide/cmake-build-debug/exp-20240605_bak/videos/Stable_Pose_5_1717596236889051",
            "/home/tpx/project/DepthGuide/cmake-build-debug/exp-20240605_bak/videos/Stable_Pose_6_1717596274604857",
            "/home/tpx/project/DepthGuide/cmake-build-debug/exp-20240605_bak/videos/Stable_Pose_7_1717596308077328",
            "/home/tpx/project/DepthGuide/cmake-build-debug/exp-20240605_bak/videos/Stable_Pose_8_1717596347701421",
            "/home/tpx/project/DepthGuide/cmake-build-debug/exp-20240605_bak/videos/Dynamic_Pose_1_1717596522706273"
    };

    auto eval = std::make_unique<calib_eval>(calib_eval::record_config{});

    auto eval_info = calib_eval::simulate_info_type::from_yaml(
            conf.ext_conf["eval_points"]);
    eval_info.cam = cam_info;

    for (auto &path: eval_path_list) {
        eval_info.save_folder = path;
        eval->simulate_eval(eval_info);
    }

    glfwSetWindowShouldClose(glfwGetCurrentContext(), true);
}