#include <opencv2/opencv.hpp>
#include <opencv2/highgui.hpp>
#include <iostream>
#include <stdio.h>
#include "ranging.h"
#include <math.h>
#include <stdlib.h>

#include "rknn_sdk.h"
#include <string.h>
#include <sys/time.h>
#include <dlfcn.h>
#include "opencv2/core.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/imgproc.hpp"

#include <sys/stat.h>
#include <sys/types.h>
#include <dirent.h>
#include <vector>
#include <tuple>
#include <string>
#include <string.h>
#include <algorithm>
#include <ros/ros.h>

using namespace cv;


void Ranging::rectifyImage(Mat &oriImgL, Mat &oriImgR) //重映射函数
{
    remap(oriImgL, oriImgL, mapX1, mapX2, INTER_LINEAR);
    remap(oriImgR, oriImgR, mapY1, mapY2, INTER_LINEAR);
}

std::vector<float> Ranging::pic2cam(int u, int v) //像素坐标转相机坐标
{
    //(u,v)->(x,y)"(loc[0],loc[1])"
    std::vector<float> loc;
    loc.push_back((u - cam_matrix_right.at<double>(0, 2)) * q.at<double>(2, 3) / cam_matrix_right.at<double>(0, 0));
    loc.push_back((v - cam_matrix_right.at<double>(1, 2)) * q.at<double>(2, 3) / cam_matrix_right.at<double>(1, 1));
    return loc;
}

std::vector<int> Ranging::muban(Mat &left_image, Mat &right_image, const int *coordinates) //模板匹配
{
    int x1 = coordinates[0], y1 = coordinates[1], x2 = coordinates[2], y2 = coordinates[3];
    // cv::Mat right_image_,left_image_;
    // cv::pyrDown(right_image, right_image_);
    // cv::pyrDown(left_image, left_image_);
    Mat tpl = right_image.rowRange(max(y1 - 2, 0), min(y2 + 2, 479)).colRange(x1, x2); //获取目标框
    Mat target = left_image.rowRange(max(y1 - 20, 0), min(y2 + 20, 479)).colRange(0, 639); //待匹配图像，极线约束，只需要同水平区域
    // Mat tpl = right_image_.rowRange(max(int(0.5*y1 - 2), 0), min(int(0.5*y2 + 2), 479)).colRange(int(0.5*x1), int(0.5*x2));
    // Mat target = left_image_.rowRange(max(int(0.5*y1 - 10), 0), min(int(0.5*y2 + 10), 239)).colRange(0, 319);
    int th = tpl.rows, tw = tpl.cols;
    Mat result;
    // methods = TM_CCOEFF_NORMED, TM_SQDIFF_NORMED, TM_CCORR_NORMED]
    matchTemplate(target, tpl, result, TM_CCOEFF_NORMED); //匹配方法：归一化相关系数即零均值归一化互相关
    double minVal, maxVal;
    Point minLoc, maxLoc; 
    minMaxLoc(result, &minVal, &maxVal, &minLoc, &maxLoc); //得到匹配点坐标
    Point tl = maxLoc, br;

    br.x = min(maxLoc.x + tw, 639); //转为像素坐标系
    br.y = min(maxLoc.y + th, 479); //转为像素坐标系
    ////展示匹配结果
    // br.x = min(maxLoc.x + tw, 319);
    // br.y = min(maxLoc.y + th, 239);
    //rectangle(target, tl, br, (0, 255, 0), 3);
    //imshow("match-", target);
    //waitKey(2);
    std::vector<int> maxloc;
    maxloc.push_back(maxLoc.x); 
    maxloc.push_back(maxLoc.y); 
    return maxloc;
}

void Ranging::horizon_estimate(Mat& img, Mat& bboxs,int k)
{
    //保证摄像头与地面平行
	int x1 = bboxs.at<float>(k, 0);
	int x2 = bboxs.at<float>(k, 2);
	int y1 = bboxs.at<float>(k, 1);
	int y2 = bboxs.at<float>(k, 3);
    float Conf = bboxs.at<float>(k, 4);
    int cls = bboxs.at<float>(k, 5);
	float Y_B, Y_H;
	Mat edge, grayImage;
	vector<cv::Point> idx;
    Mat tpl = img.rowRange(y1, min(y2+5,479)).colRange(x1, x2); // 取感兴趣范围
    //Mat target = left_image.rowRange(max(y1 - 20, 0), min(y2 + 20, 479)).colRange(0, 639);
	Mat Z = Mat::zeros(2, tpl.cols, CV_32FC1);
	cvtColor(tpl, grayImage, COLOR_BGR2GRAY); 
	GaussianBlur(grayImage,grayImage,Size(5,5),0);
	Canny(grayImage, edge, 120, 180, 3);  //提取边缘，获取与地面接触点
    //cv::imshow("1",edge);
    //cv::waitKey(1);
    float cluster[650];
	for (int i = 0;i<650;i++)
	{
	    cluster[i] = 0;
	}
	int y_b, y_h;
    int j = 0;
	for (int i = 0; i < x2-x1; i++)
	{
		//Mat temp = edge.rowRange(max(y1, 0), min(y2 + 4, 479)).colRange(x1, x2);
		Mat temp = edge.col(i); //取第i列
        // std::cout << "temp: " <<temp << std::endl;
		cv::findNonZero(temp, idx);
        std::vector<float> point_b = pic2cam(x1 + i, 240);  //转为相机坐标系
		std::vector<float> point_H = pic2cam(320, 240);
        float alfa = atan((point_b[0] - point_H[0]) / q.at<double>(2, 3));
        if (idx.size() < 1)
        {
            Z.at<float>(0, i) = 0;
		    Z.at<float>(1, i) = alfa;
            continue;
        }
		int y_b = idx[idx.size() - 1].y + y1; //
        y_b = int(y_b + y_b*0.03);
		int y_h = 240;
		point_b = pic2cam(x1 + i, y_b);  //转为相机坐标系
		point_H = pic2cam(320, y_h);
		Y_B = point_b[1];
		Y_H = point_H[1];
		// std::cout << "y_b:   " << y_b << std::endl;
        float H_c = 60; //摄像头离地高度，单位mm
        float theta = 0; //摄像头与地面夹角，弧度
		float d = (1/cos(theta)* cos(theta)) * q.at<double>(2, 3) * H_c / (Y_B - Y_H)- H_c*tan(theta);
		alfa = atan((point_b[0] - point_H[0]) / q.at<double>(2, 3));
        //cout << "d: " << d << endl;
        if (d > 700)
        {d = 0;}
		Z.at<float>(0, i) = d/cos(alfa);
		Z.at<float>(1, i) = alfa;
	}
 	    /*if (i > 0)
	    {
		    if (abs(Z.at<float>(0, i) - Z.at<float>(0, i - 1)) < 40)       //聚类
		    {
		        cluster[j] = cluster[j] + 1;
		    }
		    else
		    {
		        j = j + 1;
		        cluster[j] = 1;
		        //std::cout<<"j :  "<< j<< std::endl;
		    }
	    }
	}
    //int max_loc = distance(cluster,max_element(cluster,cluster + sizeof(cluster)/sizeof(cluster[0]))); //只保留数量最多的一类，其余置0
    //std::cout<<" max_loc :  "<< max_loc<<std::endl;
    int temp = 0;
    for (int i = 0; i < j; i++)
    {
        if (cluster[i] < 3)
        {
            for (int t = temp; t < temp + cluster[i]; t++)
            {
                Z.at<float>(0, t) = 0;
            }
        }
 	    temp = temp + cluster[i];
    }*/
    // std::cout << "z :  " <<Z << std::endl;
    this->Z = Z.clone();
}

void Ranging::getInfo(Mat &imgL, Mat &imgR, Mat &detBoxes, Mat &info)
{
    // ֱ��ͼ���⻯
    Mat imgGrayL, imgGrayR;
    cvtColor(imgL, imgGrayL, COLOR_BGR2GRAY);
    cvtColor(imgR, imgGrayR, COLOR_BGR2GRAY);
    Mat imgR_weight = imgR.clone();
    Mat infoRow;
    for (uchar i = 0; i < detBoxes.rows; i++)
    {
        int x1 = detBoxes.at<float>(i, 0);
        int y1 = detBoxes.at<float>(i, 1);
        int x2 = detBoxes.at<float>(i, 2);
        int y2 = detBoxes.at<float>(i, 3);
	//std::cout<<"x1: "<<x1<<"x2: "<<x2<<"y1: "<<y1<<"y2: "<<y2<<std::endl;
        float Conf = detBoxes.at<float>(i, 4);
        int cls = detBoxes.at<float>(i, 5);
                
        if (cls == 6 || cls == 10 || cls == 11) //体重秤，地毯和毛巾采用单目测距方法
        {
            horizon_estimate(imgR_weight, detBoxes, i);
        }
        if (x1 > 600 || x2 < 50 || y1 < 5 || y2 > 475 || x1 < 2 || x2 > 590 || abs(x2 - x1) > 550) //当目标框偏左、偏右或者过大，略去该物体
        {
	
            //char cm[15];
            //sprintf(cm, "cannot match !");

            char cm[15];
            //sprintf(cm, "cannot match !");
            sprintf(cm, "%d , %.2f", cls,Conf);
            putText(imgR, cm, Point((x1), (y1)), FONT_HERSHEY_PLAIN, 2.2, Scalar(0, 0, 255), 2);
            infoRow = (Mat_<float>(1, 4) << -1, -1, -1, -1);
            infoRow.copyTo(info.row(i));
            rectangle(imgR, Point(int(x1), int(y1)),
            Point(int(x2), int(y2)), Scalar(0, 0, 255));
            continue;
        }
        if (cls!=0 && cls!=1 && cls!=2 && cls!= 6 && cls!= 7 && cls!= 10 && cls!=11 && cls!=14 && cls!=15) //大物体不进行测距
        {
            if (x1 < 30 || x2 < 80 || x1>580 || x2 > 610) //删除边缘的目标框
            {
                detBoxes.at<float>(i, 5) = -1;
                cls = detBoxes.at<float>(i, 5);
            }
                //char cm[15];
                //sprintf(cm, "cannot match !");

            char cm[15];
            //sprintf(cm, "cannot match !");
            sprintf(cm, "%d , %.2f", cls,Conf);
            putText(imgR, cm, Point((x1), (y1)), FONT_HERSHEY_PLAIN, 1, Scalar(0, 0, 255), 2);
            infoRow = (Mat_<float>(1, 4) << -1, -1, -1, -1);
            infoRow.copyTo(info.row(i));
            rectangle(imgR, Point(int(x1), int(y1)),
            Point(int(x2), int(y2)), Scalar(0, 0, 255));
            continue;
        }

        rectangle(imgR, Point(int(x1), int(y1)),
                  Point(int(x2), int(y2)), Scalar(0, 0, 255)); //绘制目标框

        int coordinates[4] = {x1, y1, x2, y2};
        std::vector<int> disp_pixel = muban(imgGrayL, imgGrayR, coordinates); //模板匹配
        float disp_pixel_x = disp_pixel[0] - x1; //ˮ计算水平视差
        float disp_pixel_y = disp_pixel[1] - y1; //
        disp_pixel_x = (int)(disp_pixel_x + disp_pixel_x * 0.12); //0.12为模板匹配产生的误差，为经验值，通过拟合得到

        //Mat disp_matrix = Mat(1, 1, CV_32F, Scalar(disp_pixel_x)), disp_pixel_xyz;
        Mat disp_matrix = Mat(imgGrayL.rows, imgGrayL.cols, CV_32F, Scalar(disp_pixel_x)); //定义视差矩阵，所有值均为水平视差，方便转换为三维坐标，并具有水平距离信息
        Mat threed_pixel_xyz, threedImage; 
        reprojectImageTo3D(disp_matrix, threedImage, q, false); //2d->3d
        threed_pixel_xyz = threedImage.mul(threedImage); //每一像素点求平方，
        std::vector<Mat> channels;
        split(threed_pixel_xyz.clone(), channels);
        threed_pixel_xyz = channels[0] + channels[1] + channels[2]; //计算欧式距离
        threed_pixel_xyz.forEach<float>([](float &value, const int *position) { value = sqrt(value); }); // 获得距离d

        int mid_pixel = int((x1 + x2) / 2);
        std::vector<float> mid = pic2cam(imgGrayR.cols / 2, imgGrayR.rows); //计算角度，从像素坐标转为相机坐标
        std::vector<float> loc_tar = pic2cam(mid_pixel, imgGrayR.rows);
        float alfa = atan((loc_tar[0] - mid[0]) / q.at<double>(2, 3));


        if (disp_pixel_x > 240)        // 距离太近，视差过大
        {
            char cm[15];
            //sprintf(cm, "cannot match !");
            sprintf(cm, "%d , %.2f", cls,Conf);
            putText(imgR, cm, Point((x1), (y1)), FONT_HERSHEY_PLAIN, 2.2, Scalar(0, 0, 255), 2);
            infoRow = (Mat_<float>(1, 4) << -1, -1, -1, -1);
            infoRow.copyTo(info.row(i));
            continue;
        }
        else
        {
            float median = threed_pixel_xyz.at<float>((int)(y1 + y2) / 2, (int)(x1 + x2) / 2);

            std::vector<float> ltPoint = pic2cam(x1, y1);
            std::vector<float> rbPoint = pic2cam(x2, y2);
            float xx1 = ltPoint[0], yy1 = ltPoint[1], xx2 = rbPoint[0], yy2 = rbPoint[1]; //计算宽高
            float f = q.at<double>(2, 3);
            float f1 = sqrt(xx1 * xx1 + yy1 * yy1 + f * f); //推导得出
            //float w1 = median * sqrt((xx1 - xx2) * (xx1 - xx2) / 4) / f1;
            float h1 = median * sqrt((yy1 - yy2) * (yy1 - yy2) / 4) / f1;
            float f2 = sqrt(xx2 * xx2 + yy2 * yy2 + f * f);
            //float w2 = median * sqrt((xx2 - xx1) * (xx2 - xx1) / 4) / f2;
            float h2 = median * sqrt((yy2 - yy1) * (yy2 - yy1) / 4) / f2;
            float w1 = sqrt(pow((threedImage.at<cv::Vec3f>(y2, x1)[0] - threedImage.at<cv::Vec3f>(y2, x2)[0]), 2) +
                            pow((threedImage.at<cv::Vec3f>(y2, x1)[1] - threedImage.at<cv::Vec3f>(y2, x2)[1]), 2) +
                            pow((threedImage.at<cv::Vec3f>(y2, x1)[2] - threedImage.at<cv::Vec3f>(y2, x2)[2]), 2));

            w1 = w1 / 10;
            h1 = (h1 + h2) / 10;
            median /= 10;
            if (median > 120) //过远测距误差较大
            {
                //char tf[9];
                //sprintf(tf, "Too far!");
                char cm[15];
                //sprintf(cm, "cannot match !");
                sprintf(cm, "%d , %.2f", cls,Conf);
                putText(imgR, cm, Point((x1), (y1)), FONT_HERSHEY_PLAIN, 2.2, Scalar(0, 0, 255), 2);
                infoRow = (Mat_<float>(1, 4) << -1, -1, -1, -1);
                infoRow.copyTo(info.row(i));
                continue;
            }
            // ��ͼ���ϻ�����Ϣ
            char dc[50], wh[50];
            std::string cname = className[cls + 1];
            sprintf(dc, "dis:%.2fcm  %d", median, cls);
            sprintf(wh, "W: %.2fcm H: %.2fcm alfa: %2f", w1, h1, alfa);
            putText(imgR, dc, Point(x1, y2), FONT_HERSHEY_PLAIN, 1.5, Scalar(0, 0, 255), 2);
            putText(imgR, wh, Point(x1, y1), FONT_HERSHEY_PLAIN, 1.5, Scalar(0, 0, 255), 1.5);


            //返回数据
            infoRow = (Mat_<float>(1, 4) << median, w1, h1, alfa);
            infoRow.copyTo(info.row(i));
        };
    }
}

Ranging::Ranging(int index, int imgw, int imgh) : //初始化
    mapX1(imgh, imgw, CV_64F),   //初始化矩阵  ，用于计算无畸变和修正转换映射。                                
    mapX2(imgh, imgw, CV_64F),                                     
    mapY1(imgh, imgw, CV_64F),
    mapY2(imgh, imgw, CV_64F),
    q(4, 4, CV_64F),
    imgw(imgw),
    imgh(imgh)
{
    // Z = Mat::zeros(2, 1, CV_32FC1);
    if (!vcapture.open(index))
    {
        std::cout << "Open camera failed !" << std::endl;
        exit(EXIT_FAILURE);
    }
    else
    {
        //vcapture.set(CAP_PROP_FOURCC, CAP_OPENCV_MJPEG);
        vcapture.set(CAP_PROP_FPS, 30);
        vcapture.set(CAP_PROP_FRAME_WIDTH, imgw * 2);
        vcapture.set(CAP_PROP_FRAME_HEIGHT, imgh);
	    vcapture.set(CAP_PROP_BUFFERSIZE, 1);

        auto imgSize = Size(imgw, imgh);
        Mat r1(3, 3, CV_64F), r2(3, 3, CV_64F), p1(3, 4, CV_64F), p2(3, 4, CV_64F);

        stereoRectify(cam_matrix_left.t(), distortion_l, cam_matrix_right.t(), distortion_r,
                      imgSize, rotate.t(), trans, r1, r2, p1, p2, q);//立体校正

        initUndistortRectifyMap(cam_matrix_left.t(), distortion_l, r1, p1, imgSize, CV_32F, mapX1, mapX2);//计算无畸变和修正转换映射
        initUndistortRectifyMap(cam_matrix_right.t(), distortion_r, r2, p2, imgSize, CV_32F, mapY1, mapY2);//计算无畸变和修正转换映射
		
        RKNN_Create(&hdx, modelPath); // 初始化检测模型
	std::cout<< " ******************* CAMERA  initialization ********************" << std::endl;
    }
}

// std::vector<float> Ranging::pic2cam(int u, int v) //像素坐标转相机坐标
// {
// 	std::vector<float> loc;
// 	loc.push_back((u - cam_matrix_right.at<double>(0, 2)) * q.at<double>(2, 3) / cam_matrix_right.at<double>(0, 0));
// 	loc.push_back((v - cam_matrix_right.at<double>(1, 2)) * q.at<double>(2, 3) / cam_matrix_right.at<double>(1, 1));
// 	return loc;
// }



std::vector<Mat> Ranging::get_range() 
{
	double rang_old, rang_now;
	rang_old = ros::Time::now().toSec(); //测试运行时间
    Mat frame, lframe, rframe;
    vcapture.read(frame); //获取视频帧
    
    if (!frame.empty())
    {
	int64 t = getTickCount();
    Mat lframe(frame.colRange(0, imgw).clone()); //拷贝左图
    Mat rframe(frame.colRange(imgw, imgw * 2).clone()); //拷贝右图
    //imshow("lframe",lframe); 
    //waitKey(1);
    rectifyImage(lframe, rframe); //

    DetRet *det_ret = NULL; //
    InputData input_data; //定义输入数据
    int shape[4] = {1, 3, rframe.rows, rframe.cols}, det_num = 0;
    memcpy(input_data.shape, shape, sizeof(shape));
	Mat Rframe = rframe.clone();

	double detect_old, detect_now;
	detect_old = ros::Time::now().toSec();
        input_data.data = Rframe.data;
	//std::cout<<"Rframe.data.shape"<<Rframe.rows<<std::endl;
        RKNN_ObjDet(hdx, &input_data, &det_ret, &det_num);
	detect_now = ros::Time::now().toSec();

	//cout << "data_detect_time:" << detect_now-detect_old << endl;
	//std::cout<<"det_num  "<<det_num<<std::endl;
        if (!det_num)
        {
	    //std::cout<<"return NULL"<<std::endl;
            return std::vector<Mat>{rframe}; //没有检测框时，退出
        }
        std::cout << "det_num:  " << det_num << std::endl;
        // detction box transfor to our format
        Mat detBoxes(det_num, 6, CV_32F); //定义矩阵，存储目标检测内容，存储格式(x,y,x,y,conf,cls)
        for (int i = 0; i < det_num; i++) //存储目标检测内容 (x,y,x,y,conf,cls)
        {
            DetRet det_result = det_ret[i];
            // xyxy conf cls
            float xmin = rframe.cols * det_result.fLeft;
            float ymin = rframe.rows * det_result.fTop;
            float xmax = rframe.cols * det_result.fRight;
            float ymax = rframe.rows * det_result.fBottom;

            detBoxes.at<float>(i, 0) = xmin;
            detBoxes.at<float>(i, 1) = ymin;
            detBoxes.at<float>(i, 2) = xmax;
            detBoxes.at<float>(i, 3) = ymax;
            detBoxes.at<float>(i, 4) = det_result.fConf;
            // 实验测试，过滤过大的误检框
            float ratio = (xmax - xmin) * (ymax - ymin) / 308480.;
            if (ratio > 0.7)
            {
                detBoxes.at<float>(i, 5) = -1;
                continue;
            }
            detBoxes.at<float>(i, 5) = det_result.nLabel;
            if (det_result.nLabel == 1 || det_result.nLabel == 2) //检测目标为体重秤和风扇底座时，将目标框拉高，使杆子的雷达点能与目标框对应
            {
                detBoxes.at<float>(i, 1) = 100;
            }
        }
        Mat info(det_num, 4, CV_32F); // 存储测距信息，存储格式：距离d，宽w，高h，角度α
        if (det_num)
        {
		// double rang_old, rang_now;
		// rang_old = ros::Time::now().toSec();
            getInfo(lframe, rframe, detBoxes, info);
		// rang_now = ros::Time::now().toSec();
		// cout << "data_dis_time: " << rang_now-rang_old << endl;
        }
        t = getTickCount() - t;
        char fps[50];
        sprintf(fps, "fps: %d", int(1 / (t / getTickFrequency())));
        putText(rframe, fps, Point(20, 20), FONT_HERSHEY_PLAIN, 1, Scalar(0, 0, 255), 1.5);
	    // rang_now = ros::Time::now().toSec();
	    // cout << "data_rang_time" << rang_now - rang_old << endl;
        return std::vector<Mat>{rframe, detBoxes, info};
    }
    return std::vector<Mat>{rframe};
}