#include <ros/ros.h>
#include <vector>
#include <iostream>
#include <sstream>
#include <tf/transform_broadcaster.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/video/tracking.hpp>
#include <aruco/aruco.h>

static const std::string OPENCV_WINDOW = "Original image";
static const std::string ARUCO_WINDOW = "Aruco window";

class ImageConverter {

    ros::NodeHandle nh_;
    tf::TransformBroadcaster aruco_pub;
    image_transport::ImageTransport it_;
    image_transport::Subscriber image_sub_;

    public:

    ImageConverter() :
        it_(nh_)
    {
        // Subscrive to input video feed
        image_sub_ = it_.subscribe("/usb_cam/image_raw", 1,
                &ImageConverter::imageCb, this);

        // Create output windows
        cv::namedWindow(OPENCV_WINDOW);
        cv::namedWindow(ARUCO_WINDOW);
    }

    ~ImageConverter() {
        // Clean Up
        cv::destroyWindow(OPENCV_WINDOW);
        cv::destroyWindow(ARUCO_WINDOW);
    }

    void imageCb(const sensor_msgs::ImageConstPtr& msg) {
        cv_bridge::CvImageConstPtr cv_ptr;
        try
        {
            // Create OpenCV, share memory with original message
            cv_ptr = cv_bridge::toCvShare(msg,
                    sensor_msgs::image_encodings::BGR8);
        }
        catch (cv_bridge::Exception& e)
        {
            ROS_ERROR("cv_bridge exception: %s", e.what());
            return;
        }

        // Output Original Image (bcs y not)
        cv::imshow(OPENCV_WINDOW, cv_ptr->image);

        // Do Aruco
        cv::Mat cam_mat = (cv::Mat_<double>(3, 3) <<
                274.139508945831, 0.0, 141.184472810944,
                0.0, 275.741846757374, 106.693773654172,
                0.0, 0.0, 1.0);
        cv::Mat distortion = (cv::Mat_<double>(4, 1) <<
                -0.0870160932911717,
                0.128210165050533,
                0.003379500659424,
                -0.00106205540818586);
        aruco::CameraParameters cam(cam_mat, distortion, cv_ptr->image.size());
        aruco::MarkerDetector detector;
        std::vector<aruco::Marker> markers;
        float m_size = 0.15;
        detector.detect(cv_ptr->image, markers, cam, m_size);

        // Draw and print aruco
        cv::Mat aruco_demo = cv_ptr->image.clone();
        for (int i = 0; i < markers.size(); i++) {
            markers[i].draw(aruco_demo, cv::Scalar(0, 0, 255), 2);
            float x = markers[i].Tvec.at<float>(0);
            float y = markers[i].Tvec.at<float>(1);
            float z = markers[i].Tvec.at<float>(2);

            // cv::Mat rot_mat;
            // cv::Rodrigues(markers[i].Rvec, rot_mat);
            // float roll = atan2(
                    // rot_mat.at<float>(2,1),
                    // rot_mat.at<float>(2,2));
            // float pitch = -atan2(
                    // rot_mat.at<float>(2,0),
                    // sqrt(
                        // pow(rot_mat.at<float>(2,1),2) +
                        // pow(rot_mat.at<float>(2,2),2)));
            // float yaw = atan2(
                    // rot_mat.at<float>(1,0),
                    // rot_mat.at<float>(0,0));

            std::string id = "Aruco_";

            // int to str basically
            std::ostringstream ss;
            ss << markers[i].id;
            id += ss.str();

            id += "_frame";
            tf::Transform aruco_tf;
            aruco_tf.setIdentity();
            // tf::Quaternion q;
            // q.setRPY(roll, pitch, yaw);
            aruco_tf.setOrigin(tf::Vector3(x, y, z));
            // aruco_tf.setRotation(q);
            this->aruco_pub.sendTransform(tf::StampedTransform(
                        aruco_tf, ros::Time::now(), "CameraTop_optical_frame",
                        id.c_str()));
        }
        cv::imshow(ARUCO_WINDOW, aruco_demo);
        cv::waitKey(2);
    }
};

int main(int argc, char** argv) {
    ros::init(argc, argv, "aruco_detector");
    ImageConverter ic;
    ros::spin();
    return 0;
}