# Copyright (c) OpenMMLab. All rights reserved.

import re
from typing import Tuple

import cv2
import matplotlib.pyplot as plt
import mmcv
import numpy as np


def read_flow(name: str) -> np.ndarray:
    """Read flow file with the suffix '.flo'.

    This function is modified from
    https://lmb.informatik.uni-freiburg.de/resources/datasets/IO.py
    Copyright (c) 2011, LMB, University of Freiburg.

    Args:
        name (str): Optical flow file path.

    Returns:
        ndarray: Optical flow
    """

    with open(name, 'rb') as f:

        header = f.read(4)
        if header.decode('utf-8') != 'PIEH':
            raise Exception('Flow file header does not contain PIEH')

        width = np.fromfile(f, np.int32, 1).squeeze()
        height = np.fromfile(f, np.int32, 1).squeeze()

        flow = np.fromfile(f, np.float32, width * height * 2).reshape(
            (height, width, 2))

    return flow


def write_flow(flow: np.ndarray, flow_file: str) -> None:
    """Write the flow in disk.

    This function is modified from
    https://lmb.informatik.uni-freiburg.de/resources/datasets/IO.py
    Copyright (c) 2011, LMB, University of Freiburg.

    Args:
        flow (ndarray): The optical flow that will be saved.
        flow_file (str): The file for saving optical flow.
    """

    with open(flow_file, 'wb') as f:
        f.write('PIEH'.encode('utf-8'))
        np.array([flow.shape[1], flow.shape[0]], dtype=np.int32).tofile(f)
        flow = flow.astype(np.float32)
        flow.tofile(f)


def visualize_flow(flow: np.ndarray, save_file: str = None) -> np.ndarray:
    """Flow visualization function.

    Args:
        flow (ndarray): The flow will be render
        save_dir ([type], optional): save dir. Defaults to None.
    Returns:
        ndarray: flow map image with RGB order.
    """

    # return value from mmcv.flow2rgb is [0, 1.] with type np.float32
    flow_map = np.uint8(mmcv.flow2rgb(flow) * 255.)
    if save_file:
        plt.imsave(save_file, flow_map)
    return flow_map


def render_color_wheel(save_file: str = 'color_wheel.png') -> np.ndarray:
    """Render color wheel.

    Args:
        save_file (str): The saved file name . Defaults to 'color_wheel.png'.

    Returns:
        ndarray: color wheel image.
    """
    x0 = 75
    y0 = 75
    height = 151
    width = 151
    flow = np.zeros((height, width, 2), dtype=np.float32)

    grid_x = np.tile(np.expand_dims(np.arange(width), 0), [height, 1])
    grid_y = np.tile(np.expand_dims(np.arange(height), 1), [1, width])

    grid_x0 = np.tile(np.array([x0]), [height, width])
    grid_y0 = np.tile(np.array([y0]), [height, width])

    flow[:, :, 0] = grid_x - grid_x0
    flow[:, :, 1] = grid_y - grid_y0

    return visualize_flow(flow, save_file)


def read_flow_kitti(name: str) -> Tuple[np.ndarray, np.ndarray]:
    """Read sparse flow file from KITTI dataset.

    This function is modified from
    https://github.com/princeton-vl/RAFT/blob/master/core/utils/frame_utils.py.
    Copyright (c) 2020, princeton-vl
    Licensed under the BSD 3-Clause License

    Args:
        name (str): The flow file

    Returns:
        Tuple[ndarray, ndarray]: flow and valid map
    """
    # to specify not to change the image depth (16bit)
    flow = cv2.imread(name, cv2.IMREAD_ANYDEPTH | cv2.IMREAD_COLOR)
    flow = flow[:, :, ::-1].astype(np.float32)
    # flow shape (H, W, 2) valid shape (H, W)
    flow, valid = flow[:, :, :2], flow[:, :, 2]
    flow = (flow - 2**15) / 64.0
    return flow, valid


def write_flow_kitti(uv: np.ndarray, filename: str):
    """Write the flow in disk.

    This function is modified from
    https://github.com/princeton-vl/RAFT/blob/master/core/utils/frame_utils.py.
    Copyright (c) 2020, princeton-vl
    Licensed under the BSD 3-Clause License

    Args:
        uv (ndarray): The optical flow that will be saved.
        filename ([type]): The file for saving optical flow.
    """
    uv = 64.0 * uv + 2**15
    valid = np.ones([uv.shape[0], uv.shape[1], 1])
    uv = np.concatenate([uv, valid], axis=-1).astype(np.uint16)
    cv2.imwrite(filename, uv[..., ::-1])


def read_pfm(file: str) -> np.ndarray:
    """Load the file with the suffix '.pfm'.

    This function is modified from
    https://lmb.informatik.uni-freiburg.de/resources/datasets/IO.py
    Copyright (c) 2011, LMB, University of Freiburg.

    Args:
        file (str): The file name will be loaded

    Returns:
        ndarray: The loaded data
    """
    file = open(file, 'rb')

    color = None
    width = None
    height = None
    scale = None
    endian = None

    header = file.readline().rstrip()
    if header.decode('ascii') == 'PF':
        color = True
    elif header.decode('ascii') == 'Pf':
        color = False
    else:
        raise Exception('Not a PFM file.')

    dim_match = re.match(r'^(\d+)\s(\d+)\s$', file.readline().decode('ascii'))
    if dim_match:
        width, height = list(map(int, dim_match.groups()))
    else:
        raise Exception('Malformed PFM header.')

    scale = float(file.readline().decode('ascii').rstrip())
    if scale < 0:  # little-endian
        endian = '<'
        scale = -scale
    else:
        endian = '>'  # big-endian

    data = np.fromfile(file, endian + 'f')
    shape = (height, width, 3) if color else (height, width)

    data = np.reshape(data, shape)
    data = np.flipud(data)
    return data[:, :, :-1]
