import numpy as np
import cv2
import os


class CarlaDataset(object):
    def __init__(self, data_root='/data3/Carla_stereo'):
        pass
        self.data_root = data_root
        fov = 90        # default setting for carla
        self.height = 1080
        self.width = 1920
        self.focal_length = self.width / (2.0 * np.tan(fov * np.pi / 360.0))
        self.baseline_left_to_right = 2.0       # in terms of meter
        self.baseline_left_to_middle = 1.0
        self.baseline_right_to_middle = 1.0
        self.loc_idx = ['Middle', 'Left', 'Right']
        self.sensor_idx = ['NormalizedDepth', 'RawDepth', 'RGB']
        self.data_dict = {}

    def read_data(self):
        for loc in self.loc_idx:
            for sensor in self.sensor_idx:
                sensor_name = f'{loc}_{sensor}'
                sensor_data = os.listdir(os.path.join(self.data_root, sensor_name))
                self.data_dict['sensor_name'] = sensor_data

    def read_depth(self, raw_depth, norm_depth):
        '''
        raw_depth: path to raw_depth.png
        norm_depth: path to normalized_depth.png for valid mask
        '''
        depth = np.load(raw_depth)
        norm_depth = cv2.imread(norm_depth)
        valid_mask = norm_depth[..., 0] != 255
        cv2.imwrite('./valid_mask.png', (valid_mask*255).astype(np.uint8))
        return depth, valid_mask


if __name__ == '__main__':
    carla_dataset = CarlaDataset()
    raw_depth = 'Middle_RawDepth/000205.npy'
    norm_depth = 'Middle_NormalizedDepth/000205.png'
    carla_dataset.read_depth(raw_depth, norm_depth)