""" GraspNet dataset processing.
"""

import os
import sys
import numpy as np
import numpy.ma as ma
import scipy.io as scio
from scipy.optimize import linear_sum_assignment
from PIL import Image
from skimage.measure import label, regionprops
import cv2

import torch
from collections import abc as container_abcs
from torch.utils.data import Dataset
from tqdm import tqdm
from torch.utils.data import DataLoader
from time import time

BASE_DIR = os.path.dirname(os.path.abspath(__file__))
from .data_utils import CameraInfo, transform_point_cloud, create_point_cloud_from_depth_image, \
    get_workspace_mask, remove_invisible_grasp_points
import h5py


class GraspNetDataset(Dataset):
    def __init__(self, root, valid_obj_idxs, camera='kinect', split='train', remove_invisible=True,
                 augment=False, limited_data=False, overfitting=False, k_grasps=1, ground_truth_type="topk", caching=True):
        self.root = root
        self.split = split
        self.remove_invisible = remove_invisible
        self.valid_obj_idxs = valid_obj_idxs
        self.camera = camera
        self.augment = augment
        self.k_grasps = k_grasps
        self.ground_truth_type = ground_truth_type
        self.overfitting = overfitting
        self.caching = caching

        if overfitting:
            limited_data = True
        self.limited_data = limited_data

        if split == 'train':
            self.sceneIds = list(range(100))
        elif split == 'test':
            self.sceneIds = list(range(100, 190))
        elif split == 'test_seen':
            self.sceneIds = list(range(100, 130))
        elif split == 'test_similar':
            self.sceneIds = list(range(130, 160))
        elif split == 'test_novel':
            self.sceneIds = list(range(160, 190))
        if limited_data:
            self.sceneIds = self.sceneIds[:10]
        self.sceneIds = ['scene_{}'.format(str(x).zfill(4)) for x in self.sceneIds]

        filename = f"dataset/{split}_labels"
        if limited_data and not overfitting:
            filename += "_limited"
        if overfitting:
            filename += "_overfitting"
        filename += ".hdf5"
        self.h5_filename = filename
        self.h5_file = None
        self.grasp_labels_filename = "dataset/grasp_labels.hdf5"
        self.grasp_labels_file = None

        with h5py.File(self.h5_filename, 'r') as f:
            self.len = f['depthpath'].shape[0]

    def __len__(self):
        return self.len

    def __getitem__(self, index):
        if self.h5_file is None:
            self.h5_file = h5py.File(self.h5_filename, 'r')

        ann_id = int(str(self.h5_file['metapath'][index], 'utf-8').split("meta")[1][1:-4])

        color = np.array(Image.open(self.h5_file['colorpath'][index]), dtype=np.float32) / 255.0
        depth = np.array(Image.open(self.h5_file['depthpath'][index]))

        # fixing depth image where value is 0
        p99 = np.percentile(depth[depth != 0], 99)
        # p1 = abs(np.percentile(depth[depth != 0], 1))
        depth[depth > p99] = p99
        depth[depth == 0] = p99

        seg = np.array(Image.open(self.h5_file['labelpath'][index]))
        meta = scio.loadmat(self.h5_file['metapath'][index])
        scene = self.h5_file['scenename'][index]

        main_path = str(self.h5_file['metapath'][index], 'utf-8').split("meta")[0]
        cam_extrinsics = np.load(os.path.join(str(self.h5_file['metapath'][index], 'utf-8').split("meta")[0],
                                              'camera_poses.npy'))[ann_id]
        cam_wrt_table = np.load(os.path.join(str(self.h5_file['metapath'][index], 'utf-8').split("meta")[0],
                                             'cam0_wrt_table.npy'))
        cam_extrinsics = cam_wrt_table.dot(cam_extrinsics).astype(np.float32)

        try:
            obj_idxs = meta['cls_indexes'].flatten().astype(np.int32)
            poses = meta['poses']
            intrinsic = meta['intrinsic_matrix']
            factor_depth = meta['factor_depth']
        except Exception as e:
            print(repr(e))
            print(scene)

        # h_ratio = 800 / 720
        # w_ratio = 1333 / 1280

        camera = CameraInfo(1280.0, 720.0, intrinsic[0][0], intrinsic[1][1], intrinsic[0][2], intrinsic[1][2], factor_depth)

        ## generate cloud required to remove invisible grasp points
        #cloud = create_point_cloud_from_depth_image(depth, camera, organized=True)

        obj_bounding_boxes = []
        for i, obj_idx in enumerate(obj_idxs):
            if obj_idx not in self.valid_obj_idxs:
                continue
            if (seg == obj_idx).sum() < 50:
                continue

            seg_cpy = seg.copy()
            seg_cpy[seg != obj_idx] = 0
            seg_cpy[seg == obj_idx] = 1
            seg_labels = label(seg_cpy)
            regions = regionprops(seg_labels)

            # b has start_height, start_width, end_height, end_width = (x_min, y_min, x_max, y_max)
            b = regions[0].bbox
            # saved bbox has xyxy
            H, W = seg.shape[0], seg.shape[1]

            obj_bounding_boxes.append(np.array([b[1] / W, b[0] / H, b[3] / W, b[2] / H])[None].repeat(self.k_grasps, 0))
        obj_bounding_boxes = np.concatenate(obj_bounding_boxes, axis=0).astype(np.float32)

        ret_dict = {}
        #ret_dict['point_cloud'] = cloud.transpose((2, 0, 1)).astype(np.float32)
        ret_dict['color'] = color.transpose((2, 0, 1)).astype(np.float32)
        ret_dict['depth'] = (depth / camera.scale).astype(np.float32)
        ret_dict['objectness_label'] = seg.astype(np.int32)
        ret_dict['obj_bounding_boxes'] = obj_bounding_boxes
        ret_dict['camera_intrinsics'] = np.expand_dims(np.concatenate([intrinsic.reshape(-1), factor_depth[0]]), -1).astype(np.float32)
        ret_dict['camera_extrinsics'] = cam_extrinsics.astype(np.float32)
        #ret_dict['transformed_points'] = transformed_points.astype(np.float32)
        ret_dict['obj_idxs'] = obj_idxs

        return ret_dict


def load_valid_obj_idxs():
    obj_names = list(range(88))
    valid_obj_idxs = []
    for i, obj_name in enumerate(obj_names):
        if i == 18: continue
        valid_obj_idxs.append(i + 1)  # here align with label png

    return valid_obj_idxs


def my_worker_init_fn(worker_id):
    np.random.seed(np.random.get_state()[1][0] + worker_id)
    pass