# Copyright (C) 2021 NVIDIA CORPORATION & AFFILIATES.  All rights reserved.
#
# This work is made available under the Nvidia Source Code License-NC.
# To view a copy of this license, check out LICENSE.md
import numpy as np
import matplotlib.pyplot as plt
import os.path

TAG_CHAR = np.array([202021.25], np.float32)


def readFlow(fn):
    """ Read .flo file in Middlebury format"""
    # Code adapted from:
    # http://stackoverflow.com/questions/28013200/
    # reading-middlebury-flow-files-with-python-bytes-array-numpy

    # WARNING: this will work on little-endian architectures
    # (eg Intel x86) only!
    # print 'fn = %s'%(fn)
    with open(fn, 'rb') as f:
        magic = np.fromfile(f, np.float32, count=1)
        if 202021.25 != magic:
            print('Magic number incorrect. Invalid .flo file')
            return None
        else:
            w = np.fromfile(f, np.int32, count=1)
            h = np.fromfile(f, np.int32, count=1)
            # print 'Reading %d x %d flo file\n' % (w, h)
            data = np.fromfile(f, np.float32, count=2 * int(w) * int(h))
            # Reshape data into 3D array (columns, rows, bands)
            # The reshape here is for visualization, the original code is
            # (w,h,2)
            return np.resize(data, (int(h), int(w), 2))


def writeFlow(filename, uv, v=None):
    """ Write optical flow to file.

    If v is None, uv is assumed to contain both u and v channels,
    stacked in deep.
    Original code by Deqing Sun, adapted from Daniel Scharstein.
    """
    nBands = 2

    if v is None:
        assert(uv.ndim == 3)
        assert(uv.shape[2] == 2)
        u = uv[:, :, 0]
        v = uv[:, :, 1]
    else:
        u = uv

    assert(u.shape == v.shape)
    height, width = u.shape
    f = open(filename, 'wb')
    # write the header
    f.write(TAG_CHAR)
    np.array(width).astype(np.int32).tofile(f)
    np.array(height).astype(np.int32).tofile(f)
    # arrange into matrix form
    tmp = np.zeros((height, width * nBands))
    tmp[:, np.arange(width) * 2] = u
    tmp[:, np.arange(width) * 2 + 1] = v
    tmp.astype(np.float32).tofile(f)
    f.close()


# ref: https://github.com/sampepose/flownet2-tf/
# blob/18f87081db44939414fc4a48834f9e0da3e69f4c/src/flowlib.py#L240
def visulize_flow_file(flow_filename, save_dir=None):
    flow_data = readFlow(flow_filename)
    img = flow2img(flow_data)
    # plt.imshow(img)
    # plt.show()
    if save_dir:
        idx = flow_filename.rfind("/") + 1
        plt.imsave(os.path.join(save_dir, "%s-vis.png" %
                                flow_filename[idx:-4]), img)


def flow2img(flow_data):
    """
    convert optical flow into color image
    :param flow_data:
    :return: color image
    """
    # print(flow_data.shape)
    # print(type(flow_data))
    u = flow_data[:, :, 0]
    v = flow_data[:, :, 1]

    UNKNOW_FLOW_THRESHOLD = 1e7
    pr1 = abs(u) > UNKNOW_FLOW_THRESHOLD
    pr2 = abs(v) > UNKNOW_FLOW_THRESHOLD
    idx_unknown = (pr1 | pr2)
    u[idx_unknown] = v[idx_unknown] = 0

    # get max value in each direction
    maxu = -999.
    maxv = -999.
    minu = 999.
    minv = 999.
    maxu = max(maxu, np.max(u))
    maxv = max(maxv, np.max(v))
    minu = min(minu, np.min(u))
    minv = min(minv, np.min(v))

    rad = np.sqrt(u ** 2 + v ** 2)
    maxrad = max(-1, np.max(rad))
    u = u / maxrad + np.finfo(float).eps
    v = v / maxrad + np.finfo(float).eps

    img = compute_color(u, v)

    idx = np.repeat(idx_unknown[:, :, np.newaxis], 3, axis=2)
    img[idx] = 0

    return np.uint8(img)


def compute_color(u, v):
    """
    compute optical flow color map
    :param u: horizontal optical flow
    :param v: vertical optical flow
    :return:
    """

    height, width = u.shape
    img = np.zeros((height, width, 3))

    NAN_idx = np.isnan(u) | np.isnan(v)
    u[NAN_idx] = v[NAN_idx] = 0

    colorwheel = make_color_wheel()
    ncols = np.size(colorwheel, 0)

    rad = np.sqrt(u ** 2 + v ** 2)

    a = np.arctan2(-v, -u) / np.pi

    fk = (a + 1) / 2 * (ncols - 1) + 1

    k0 = np.floor(fk).astype(int)

    k1 = k0 + 1
    k1[k1 == ncols + 1] = 1
    f = fk - k0

    for i in range(0, np.size(colorwheel, 1)):
        tmp = colorwheel[:, i]
        col0 = tmp[k0 - 1] / 255
        col1 = tmp[k1 - 1] / 255
        col = (1 - f) * col0 + f * col1

        idx = rad <= 1
        col[idx] = 1 - rad[idx] * (1 - col[idx])
        notidx = np.logical_not(idx)

        col[notidx] *= 0.75
        img[:, :, i] = np.uint8(np.floor(255 * col * (1 - NAN_idx)))

    return img


def make_color_wheel():
    """
    Generate color wheel according Middlebury color code
    :return: Color wheel
    """
    RY = 15
    YG = 6
    GC = 4
    CB = 11
    BM = 13
    MR = 6

    ncols = RY + YG + GC + CB + BM + MR

    colorwheel = np.zeros([ncols, 3])

    col = 0

    # RY
    colorwheel[0:RY, 0] = 255
    colorwheel[0:RY, 1] = np.transpose(np.floor(255 * np.arange(0, RY) / RY))
    col += RY

    # YG
    colorwheel[col:col + YG, 0] = 255 - \
        np.transpose(np.floor(255 * np.arange(0, YG) / YG))
    colorwheel[col:col + YG, 1] = 255
    col += YG

    # GC
    colorwheel[col:col + GC, 1] = 255
    colorwheel[col:col + GC,
               2] = np.transpose(np.floor(255 * np.arange(0, GC) / GC))
    col += GC

    # CB
    colorwheel[col:col + CB, 1] = 255 - \
        np.transpose(np.floor(255 * np.arange(0, CB) / CB))
    colorwheel[col:col + CB, 2] = 255
    col += CB

    # BM
    colorwheel[col:col + BM, 2] = 255
    colorwheel[col:col + BM,
               0] = np.transpose(np.floor(255 * np.arange(0, BM) / BM))
    col += + BM

    # MR
    colorwheel[col:col + MR, 2] = 255 - \
        np.transpose(np.floor(255 * np.arange(0, MR) / MR))
    colorwheel[col:col + MR, 0] = 255

    return colorwheel