#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>
#include <teleoperation/utils.hpp>

/*
 * This is the ROS Node for detecting the ArUco markers.
 *
 * Node: aruco_detector
 *
 * It subscribes to a webcam, detects the markers, transforms them
 * into the correct coordinate frame (z-up) and publishes on TF
 * relatively to the odom frame
 *
 */

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

        // Create output windows
        cv::namedWindow(ARUCO_WINDOW);
        ROS_INFO("ARUCO: UP");
    }

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

    void imageCb(const sensor_msgs::ImageConstPtr& msg) {
        // This function gets called when an image arrives
        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;
        }

        // Define parameters of markers and camera
        cv::Mat cam_mat = (cv::Mat_<double>(3, 3) <<
                690., 0.0, 320,
                0.0, 690., 225,
                0.0, 0.0, 1.0);
        cv::Mat distortion = (cv::Mat_<double>(4, 1) <<
                -0.05,
                 0,
                 0,
                -0.0015);
        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 all aruco into the window and publish on tf
        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);

            cv::Mat rot_cv;
            cv::Rodrigues(markers[i].Rvec, rot_cv);

            // Transform the coordinates of the aruco markers so that they
            // are in the Z-up, X-forward frame
            tf::Matrix3x3 rot(
                    rot_cv.at<float>(0, 0),
                    rot_cv.at<float>(0, 1),
                    rot_cv.at<float>(0, 2),
                    rot_cv.at<float>(1, 0),
                    rot_cv.at<float>(1, 1),
                    rot_cv.at<float>(1, 2),
                    rot_cv.at<float>(2, 0),
                    rot_cv.at<float>(2, 1),
                    rot_cv.at<float>(2, 2)
                    );
            tf::Vector3 trans(
                    markers[i].Tvec.at<float>(0),
                    markers[i].Tvec.at<float>(1),
                    markers[i].Tvec.at<float>(2)
                    );
            tf::Matrix3x3 hmat(
                    0, 0, -1,
                    1, 0, 0,
                    0, -1, 0
                    );
            tf::Matrix3x3 another(
                    0, 0, -1,
                    1, 0, 0,
                    0, -1, 0
                    );

            rot = hmat * rot * another;  // This transforms the coords
            trans = hmat * trans;

            tf::Transform aruco_tf(rot, trans);

            std::string id = "Aruco_";
            id += stuff_to_str(markers[i].id);
            id += "_frame";

            // Publish the transform
            this->aruco_pub.sendTransform(tf::StampedTransform(
                        aruco_tf, ros::Time::now(), "odom",
                        id.c_str()));
        }
        cv::imshow(ARUCO_WINDOW, aruco_demo);
        cv::waitKey(2);
    }
};

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