# Copyright 2026 Toyota Research Institute.  All rights reserved.

import os
import numpy as np

from anydata.utils.read import read_image, read_depth
from anydata.utils.write import write_json, write_lowdim, write_labels
from anydata.converters.utils import run, add_key_to_dict, fill_metadata, parse_dst_seq, frame_name, crawl, prepare_lowdim
from anydata.converters.utils import geometry_from_colmap, read_colmap_binary

#######################################################

def get_sequences(args):
    seqs = crawl(args.src, 'sparse')
    seqs = [os.path.dirname(seq) for seq in seqs]
    return seqs


def parse_sequence(seq, args):
    return parse_dst_seq(seq, args)

#######################################################

def process_sequence(i, seq, dst, args):

    ### Initialize lists and dicts
    cameras = ['0']
    num_frames = {cam: dict() for cam in cameras}
    resolution = {cam: dict() for cam in cameras}
    labels, lowdim = [], {}
    dense_labels = ['rgb','depth']

    ### Get COLMAP data
    cameras_binary, points_binary, images_binary = read_colmap_binary(seq)

    cam = cameras[0]
    dense = {label: dict() for label in dense_labels}

    # Start offset for file naming
    offset = None

    ############ LOOP OVER CAMERAS
    for i, (key, val) in enumerate(images_binary.items()):
        name = os.path.splitext(os.path.basename(val.name).split('_')[-1])[0]
        if offset is None: offset = int(name)
        frame = frame_name(i)

        ### Extract COLMAP information
        intrinsics, extrinsics, depth, hw = geometry_from_colmap(
            val, cameras_binary, points_binary)

        ######## RGB
        rgb = np.array(read_image(f'{seq}/images/{val.name}'))
        dense['rgb'][frame] = rgb

        ######## LOWDIM RGB
        prepare_lowdim(lowdim, dst, cam, frame)

        ######## DEPTH
        dense['depth'][frame] = depth

        ######## INTRINSICS + EXTRINSICS
        filename_lowdim = add_key_to_dict(lowdim, f'{dst}/lowdim/{cam}/{frame}.npz')
        lowdim[filename_lowdim]['extrinsics'] = extrinsics
        lowdim[filename_lowdim]['intrinsics'] = intrinsics

    ######## WRITE LABELS
    write_labels(dst, cam, args.storage, dense, labels, resolution, num_frames)

    ######## WRITE LOWDIM
    write_lowdim(args, dst, labels, num_frames, lowdim)

############ METADATA 
    filename = f'{dst}/metadata.json'
    seq_metadata = fill_metadata(
        args=args,
        info=dict(
            name='LLFF',
            tags=['real','static','object'],
            raw_id=seq.replace(f'{args.src}/', ''),
        ),
        labels=labels,
        cameras=cameras,
        resolution=resolution,
        num_frames=num_frames,
        framerate=10,
        rgb=dict(extension='jpg'),
        intrinsics=dict(model='pinhole'),
        extrinsics=dict(transform='cam2world',metric=False),
        depth=dict(extension='npz',metric=False,sparse=True),
        semantic=None,
        action=None,
        language=None,
        specific=None,
    )
    write_json(filename, seq_metadata)

    return dst

#######################################################

if __name__ == '__main__':
    converter = os.path.basename(__file__)
    run(converter, get_sequences, parse_sequence, process_sequence)

#######################################################