import warnings
warnings.filterwarnings("ignore", category=DeprecationWarning)

import sys
import os
import argparse
import glob
import json
from concurrent.futures import ProcessPoolExecutor

# Load external constants
from scannet200_constants import *
from scannet200_splits import *
from utils import *

CLOUD_FILE_PFIX = '_vh_clean_2'
SEGMENTS_FILE_PFIX = '.0.010000.segs.json'
AGGREGATIONS_FILE_PFIX = '.aggregation.json'
CLASS_IDs = VALID_CLASS_IDS_200

_OUTPUT_ROOT = ''
_TRAIN_SCENES = set()
_VAL_SCENES = set()
_VOXEL_SIZE = 0.2
_NORMALIZE = False
_LABEL_MAP = {}


def init_worker(output_root, train_scenes, val_scenes, voxel_size, normalize, label_map):
    global _OUTPUT_ROOT, _TRAIN_SCENES, _VAL_SCENES, _VOXEL_SIZE, _NORMALIZE, _LABEL_MAP
    _OUTPUT_ROOT = output_root
    _TRAIN_SCENES = set(train_scenes)
    _VAL_SCENES = set(val_scenes)
    _VOXEL_SIZE = voxel_size
    _NORMALIZE = normalize
    _LABEL_MAP = label_map

def normalize_pointcloud(points):
    centered = points - np.mean(points, axis=0, keepdims=True)
    scale = np.max(np.linalg.norm(centered, axis=1))
    if scale < 1e-8:
        return centered
    return centered / scale


def handle_process(scene_path):

    scene_id = os.path.basename(scene_path)
    mesh_path = os.path.join(scene_path, f'{scene_id}{CLOUD_FILE_PFIX}.ply')
    segments_file = os.path.join(scene_path, f'{scene_id}{CLOUD_FILE_PFIX}{SEGMENTS_FILE_PFIX}')
    aggregations_file = os.path.join(scene_path, f'{scene_id}{AGGREGATIONS_FILE_PFIX}')
    info_file = os.path.join(scene_path, f'{scene_id}.txt')
    if _NORMALIZE:
        norm_suffix = '_normalized'
    else:
        norm_suffix = ''
    if scene_id in _TRAIN_SCENES:
        output_file = os.path.join(_OUTPUT_ROOT, 'train', f'{scene_id}{norm_suffix}.ply')
        voxel_output_file = os.path.join(_OUTPUT_ROOT, 'train', f'{scene_id}_voxel_{_VOXEL_SIZE}{norm_suffix}.ply')
        split_name = 'train'
    elif scene_id in _VAL_SCENES:
        output_file = os.path.join(_OUTPUT_ROOT, 'val', f'{scene_id}{norm_suffix}.ply')
        voxel_output_file = os.path.join(_OUTPUT_ROOT, 'val', f'{scene_id}_voxel_{_VOXEL_SIZE}{norm_suffix}.ply')
        split_name = 'val'
    else:
        output_file = os.path.join(_OUTPUT_ROOT, 'test', f'{scene_id}{norm_suffix}.ply')
        voxel_output_file = os.path.join(_OUTPUT_ROOT, 'test', f'{scene_id}_voxel_{_VOXEL_SIZE}{norm_suffix}.ply')
        split_name = 'test'
    print('Processing: ', scene_id, 'in ', split_name)

    # Rotating the mesh to axis aligned
    info_dict = {}
    with open(info_file) as f:
        for line in f:
            (key, val) = line.split(" = ")
            info_dict[key] = np.fromstring(val, sep=' ')

    if 'axisAlignment' not in info_dict:
        rot_matrix = np.identity(4)
    else:
        rot_matrix = info_dict['axisAlignment'].reshape(4, 4)

    mesh_data = read_plymesh(mesh_path)
    if mesh_data is None:
        raise ValueError(f'Empty mesh: {mesh_path}')
    pointcloud, faces_array = mesh_data

    # Rotate PC to axis aligned
    r_points = pointcloud[:, :3].transpose()
    r_points = np.append(r_points, np.ones((1, r_points.shape[1])), axis=0)
    r_points = np.dot(rot_matrix, r_points)
    pointcloud = np.append(r_points.transpose()[:, :3], pointcloud[:, 3:], axis=1)

    if _NORMALIZE:
        pointcloud[:, :3] = normalize_pointcloud(pointcloud[:, :3])

    points = pointcloud[:, :3]
    colors = pointcloud[:, 3:6]

    # Load segments file
    with open(segments_file) as f:
        segments = json.load(f)
        seg_indices = np.array(segments['segIndices'])

    # Load Aggregations file
    with open(aggregations_file) as f:
        aggregation = json.load(f)
        seg_groups = np.array(aggregation['segGroups'])

    # Generate new labels
    labelled_pc = np.zeros((pointcloud.shape[0], 1))
    instance_ids = np.zeros((pointcloud.shape[0], 1))
    for group in seg_groups:
        p_inds, label_id = point_indices_from_group(seg_indices, group, _LABEL_MAP, CLASS_IDs)

        labelled_pc[p_inds] = label_id
        instance_ids[p_inds] = group['id']

    labelled_pc = labelled_pc.astype(int)
    instance_ids = instance_ids.astype(int)

    # Concatenate with original cloud
    processed_vertices = np.hstack((pointcloud[:, :6], labelled_pc, instance_ids))

    if (np.any(np.isnan(processed_vertices)) or not np.all(np.isfinite(processed_vertices))):
        raise ValueError('nan')

    # Save processed mesh
    save_plymesh(processed_vertices, faces_array, output_file, with_label=True, verbose=False)

    # Uncomment the following lines if saving the output in voxelized point cloud
    quantized_points, quantized_scene_colors, quantized_labels, quantized_instances = voxelize_pointcloud(
        points,
        colors,
        labelled_pc,
        instance_ids,
        faces_array,
        voxel_size=_VOXEL_SIZE,
    )
    quantized_pc = np.hstack((quantized_points, quantized_scene_colors, quantized_labels, quantized_instances))
    save_plymesh(quantized_pc, faces=None, filename=voxel_output_file, with_label=True, verbose=False)

if __name__ == '__main__':
    parser = argparse.ArgumentParser()
    parser.add_argument('--dataset_root', required=True, help='Path to the ScanNet dataset containing scene folders')
    parser.add_argument('--output_root', required=True, help='Output path where train/val folders will be located')
    parser.add_argument('--label_map_file', required=True, help='path to scannetv2-labels.combined.tsv')
    parser.add_argument('--num_workers', default=4, type=int, help='The number of parallel workers')
    parser.add_argument('--train_val_splits_path', default=None, help='Where the txt files with the train/val splits live')
    parser.add_argument('--voxel_size', default=0.2, type=float, help='Size of the voxel for voxelization')
    parser.add_argument('--normalize_pointcloud', action='store_true', help='Normalize each scene point cloud to a unit sphere after axis alignment')
    config = parser.parse_args()

    # Load label map
    labels_pd = pd.read_csv(config.label_map_file, sep='\t', header=0)
    label_map = dict(zip(labels_pd['raw_category'], labels_pd['id']))

    # Load train/val splits
    with open(config.train_val_splits_path + '/scannetv2_train.txt') as train_file:
        train_scenes = train_file.read().splitlines()
    with open(config.train_val_splits_path + '/scannetv2_val.txt') as val_file:
        val_scenes = val_file.read().splitlines()

    # Create output directories
    train_output_dir = os.path.join(config.output_root, 'train')
    if not os.path.exists(train_output_dir):
        os.makedirs(train_output_dir)
    val_output_dir = os.path.join(config.output_root, 'val')
    if not os.path.exists(val_output_dir):
        os.makedirs(val_output_dir)
    test_output_dir = os.path.join(config.output_root, 'test')
    if not os.path.exists(test_output_dir):
        os.makedirs(test_output_dir)

    # Load scene paths
    scene_paths = sorted(glob.glob(config.dataset_root + '/*'))

    # Preprocess data.
    print('Processing scenes...')
    with ProcessPoolExecutor(
        max_workers=config.num_workers,
        initializer=init_worker,
        initargs=(
            config.output_root,
            train_scenes,
            val_scenes,
            config.voxel_size,
            config.normalize_pointcloud,
            label_map,
        ),
    ) as pool:
        _ = list(pool.map(handle_process, scene_paths))