#!/usr/bin/env python3
# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
"""
This example demonstrates multiview 3D reconstruction using the plain
pulsar interface. For this, reference images have been pre-generated
(you can find them at
`../../tests/pulsar/reference/examples_TestRenderer_test_multiview_%d.png`).
The camera parameters are assumed given. The scene is initialized with
random spheres. Gradient-based optimization is used to optimize sphere
parameters and prune spheres to converge to a 3D representation.

This example is not available yet through the 'unified' interface,
because opacity support has not landed in PyTorch3D for general data
structures yet.
"""
import math
from os import path
import logging

import cv2
import imageio
import numpy as np
import torch
from pytorch3d.renderer.points.pulsar import Renderer
from torch import nn, optim


LOGGER = logging.getLogger(__name__)
N_POINTS = 400_000
WIDTH = 1_000
HEIGHT = 1_000
VISUALIZE_IDS = [0, 1]
DEVICE = torch.device("cuda")


class SceneModel(nn.Module):
    """
    A simple scene model to demonstrate use of pulsar in PyTorch modules.

    The scene model is parameterized with sphere locations (vert_pos),
    channel content (vert_col), radiuses (vert_rad), camera position (cam_pos),
    camera rotation (cam_rot) and sensor focal length and width (cam_sensor).

    The forward method of the model renders this scene description. Any
    of these parameters could instead be passed as inputs to the forward
    method and come from a different model. Optionally, camera parameters can
    be provided to the forward method in which case the scene is rendered
    using those parameters.
    """

    def __init__(self):
        super(SceneModel, self).__init__()
        self.gamma = 1.0
        # Points.
        torch.manual_seed(1)
        vert_pos = torch.rand((1, N_POINTS, 3), dtype=torch.float32) * 10.0
        vert_pos[:, :, 2] += 25.0
        vert_pos[:, :, :2] -= 5.0
        self.register_parameter("vert_pos", nn.Parameter(vert_pos, requires_grad=True))
        self.register_parameter(
            "vert_col",
            nn.Parameter(
                torch.ones(1, N_POINTS, 3, dtype=torch.float32) * 0.5,
                requires_grad=True,
            ),
        )
        self.register_parameter(
            "vert_rad",
            nn.Parameter(
                torch.ones(1, N_POINTS, dtype=torch.float32) * 0.05, requires_grad=True
            ),
        )
        self.register_parameter(
            "vert_opy",
            nn.Parameter(
                torch.ones(1, N_POINTS, dtype=torch.float32), requires_grad=True
            ),
        )
        self.register_buffer(
            "cam_params",
            torch.tensor(
                [
                    [
                        np.sin(angle) * 35.0,
                        0.0,
                        30.0 - np.cos(angle) * 35.0,
                        0.0,
                        -angle + math.pi,
                        0.0,
                        5.0,
                        2.0,
                    ]
                    for angle in [-1.5, -0.8, -0.4, -0.1, 0.1, 0.4, 0.8, 1.5]
                ],
                dtype=torch.float32,
            ),
        )
        self.renderer = Renderer(WIDTH, HEIGHT, N_POINTS, right_handed_system=True)

    def forward(self, cam=None):
        if cam is None:
            cam = self.cam_params
            n_views = 8
        else:
            n_views = 1
        return self.renderer.forward(
            self.vert_pos.expand(n_views, -1, -1),
            self.vert_col.expand(n_views, -1, -1),
            self.vert_rad.expand(n_views, -1),
            cam,
            self.gamma,
            45.0,
        )


def cli():
    """
    Simple demonstration for a multi-view 3D reconstruction using pulsar.

    This example makes use of opacity, which is not yet supported through
    the unified PyTorch3D interface.

    Writes to `multiview.gif`.
    """
    LOGGER.info("Loading reference...")
    # Load reference.
    ref = torch.stack(
        [
            torch.from_numpy(
                imageio.imread(
                    "../../tests/pulsar/reference/examples_TestRenderer_test_multiview_%d.png"
                    % idx
                )
            ).to(torch.float32)
            / 255.0
            for idx in range(8)
        ]
    ).to(DEVICE)
    # Set up model.
    model = SceneModel().to(DEVICE)
    # Optimizer.
    optimizer = optim.SGD(
        [
            {"params": [model.vert_col], "lr": 1e-1},
            {"params": [model.vert_rad], "lr": 1e-3},
            {"params": [model.vert_pos], "lr": 1e-3},
        ]
    )

    # For visualization.
    angle = 0.0
    LOGGER.info("Writing video to `%s`.", path.abspath("multiview.avi"))
    writer = imageio.get_writer("multiview.gif", format="gif", fps=25)

    # Optimize.
    for i in range(300):
        optimizer.zero_grad()
        result = model()
        # Visualize.
        result_im = (result.cpu().detach().numpy() * 255).astype(np.uint8)
        cv2.imshow("opt", result_im[0, :, :, ::-1])
        overlay_img = np.ascontiguousarray(
            ((result * 0.5 + ref * 0.5).cpu().detach().numpy() * 255).astype(np.uint8)[
                0, :, :, ::-1
            ]
        )
        overlay_img = cv2.putText(
            overlay_img,
            "Step %d" % (i),
            (10, 40),
            cv2.FONT_HERSHEY_SIMPLEX,
            1,
            (0, 0, 0),
            2,
            cv2.LINE_AA,
            False,
        )
        cv2.imshow("overlay", overlay_img)
        cv2.waitKey(1)
        # Update.
        loss = ((result - ref) ** 2).sum()
        LOGGER.info("loss %d: %f", i, loss.item())
        loss.backward()
        optimizer.step()
        # Cleanup.
        with torch.no_grad():
            model.vert_col.data = torch.clamp(model.vert_col.data, 0.0, 1.0)
            # Remove points.
            model.vert_pos.data[model.vert_rad < 0.001, :] = -1000.0
            model.vert_rad.data[model.vert_rad < 0.001] = 0.0001
            vd = (
                (model.vert_col - torch.ones(1, 1, 3, dtype=torch.float32).to(DEVICE))
                .abs()
                .sum(dim=2)
            )
            model.vert_pos.data[vd <= 0.2] = -1000.0
        # Rotating visualization.
        cam_control = torch.tensor(
            [
                [
                    np.sin(angle) * 35.0,
                    0.0,
                    30.0 - np.cos(angle) * 35.0,
                    0.0,
                    -angle + math.pi,
                    0.0,
                    5.0,
                    2.0,
                ]
            ],
            dtype=torch.float32,
        ).to(DEVICE)
        with torch.no_grad():
            result = model.forward(cam=cam_control)[0]
            result_im = (result.cpu().detach().numpy() * 255).astype(np.uint8)
            cv2.imshow("vis", result_im[:, :, ::-1])
            writer.append_data(result_im)
            angle += 0.05
    writer.close()
    LOGGER.info("Done.")


if __name__ == "__main__":
    logging.basicConfig(level=logging.INFO)
    cli()
