# ----------------------------------------------------------------------------
# -                        Open3D: www.open3d.org                            -
# ----------------------------------------------------------------------------
# Copyright (c) 2018-2023 www.open3d.org
# SPDX-License-Identifier: MIT
# ----------------------------------------------------------------------------

# examples/python/t_reconstruction_system/integrate.py

# P.S. This example is used in documentation, so, please ensure the changes are
# synchronized.

import os
import numpy as np
import open3d as o3d
import open3d.core as o3c
import time
import matplotlib.pyplot as plt
from tqdm import tqdm
from config import ConfigParser

from common import load_rgbd_file_names, load_depth_file_names, load_intrinsic, load_extrinsics, get_default_dataset


def integrate(depth_file_names, color_file_names, depth_intrinsic,
              color_intrinsic, extrinsics, integrate_color, config):

    n_files = len(depth_file_names)
    device = o3d.core.Device(config.device)

    if integrate_color:
        vbg = o3d.t.geometry.VoxelBlockGrid(
            attr_names=('tsdf', 'weight', 'color'),
            attr_dtypes=(o3c.float32, o3c.float32, o3c.float32),
            attr_channels=((1), (1), (3)),
            voxel_size=3.0 / 512,
            block_resolution=16,
            block_count=50000,
            device=device)
    else:
        vbg = o3d.t.geometry.VoxelBlockGrid(attr_names=('tsdf', 'weight'),
                                            attr_dtypes=(o3c.float32,
                                                         o3c.float32),
                                            attr_channels=((1), (1)),
                                            voxel_size=3.0 / 512,
                                            block_resolution=16,
                                            block_count=50000,
                                            device=device)

    start = time.time()
    for i in tqdm(range(n_files)):
        depth = o3d.t.io.read_image(depth_file_names[i]).to(device)
        extrinsic = extrinsics[i]

        frustum_block_coords = vbg.compute_unique_block_coordinates(
            depth, depth_intrinsic, extrinsic, config.depth_scale,
            config.depth_max)

        if integrate_color:
            color = o3d.t.io.read_image(color_file_names[i]).to(device)
            vbg.integrate(frustum_block_coords, depth, color, depth_intrinsic,
                          color_intrinsic, extrinsic, config.depth_scale,
                          config.depth_max)
        else:
            vbg.integrate(frustum_block_coords, depth, depth_intrinsic,
                          extrinsic, config.depth_scale, config.depth_max)
        dt = time.time() - start
    print('Finished integrating {} frames in {} seconds'.format(n_files, dt))

    return vbg


if __name__ == '__main__':
    parser = ConfigParser()
    parser.add(
        '--config',
        is_config_file=True,
        help='YAML config file path. Please refer to default_config.yml as a '
        'reference. It overrides the default config file, but will be '
        'overridden by other command line inputs.')
    parser.add('--default_dataset',
               help='Default dataset is used when config file is not provided. '
               'Default dataset may be selected from the following options: '
               '[lounge, jack_jack]',
               default='lounge')
    parser.add('--integrate_color', action='store_true')
    parser.add('--path_trajectory',
               help='path to the trajectory .log or .json file.')
    parser.add('--path_npz',
               help='path to the npz file that stores voxel block grid.',
               default='vbg.npz')
    config = parser.get_config()

    if config.path_dataset == '':
        config = get_default_dataset(config)

    if config.integrate_color:
        depth_file_names, color_file_names = load_rgbd_file_names(config)
    else:
        depth_file_names = load_depth_file_names(config)
        color_file_names = None

    depth_intrinsic = load_intrinsic(config)
    color_intrinsic = load_intrinsic(config, 'color')

    extrinsics = load_extrinsics(config.path_trajectory, config)
    vbg = integrate(depth_file_names, color_file_names, depth_intrinsic,
                    color_intrinsic, extrinsics, config)

    pcd = vbg.extract_point_cloud()
    o3d.visualization.draw([pcd])

    mesh = vbg.extract_triangle_mesh()
    o3d.visualization.draw([mesh.to_legacy()])