using OpenCVForUnity.CoreModule;
using OpenCVForUnity.ImgprocModule;
using OpenCVForUnity.UnityUtils;
using OpenCVForUnity.UnityUtils.Helper;
using System;
using System.Collections.Generic;
using UnityEngine;
using Yoga;

public abstract class Estimator
{
    private YOLOv7ObjectDetector _objectDetector;
    public int inpWidth = 416;
    public int inpHeight = 416;
    public float confThreshold = 0.35f;
    public float nmsThreshold = 0.6f;
    public int topK = 1000;

    //初始化
    public void Init()
    {
        _objectDetector = new YOLOv7ObjectDetector(
            Utils.getFilePath("OpenCVForUnity/dnn/yolov7-tiny.weights"),
            Utils.getFilePath("OpenCVForUnity/dnn/yolov7-tiny.cfg"),
            Utils.getFilePath("OpenCVForUnity/dnn/coco.names"),
            new Size(inpWidth, inpHeight), confThreshold, nmsThreshold/*, topK*/);

        InitModel();
    }

    public abstract void InitModel();

    public void Dispose()
    {
        DisposeModel();
    }
    public abstract void DisposeModel();

    //检测到的人体框 默认使用VOLO7
    public virtual bool TryGetROIRegionMat(Mat rgbaMat, Mat bgrMat, out List<float[]> voloResult)
    {
        voloResult = null;
        if (_objectDetector == null)
        {
            Debug.LogWarning("ObjectDetector is not ready. ");
            return false; //重新检测
        }

        //获取数据
        Mat results = _objectDetector.infer(bgrMat);
        var voloResultBox = new List<float[]>();
        bool hasValidObject = false;
        for (int i = results.rows() - 1; i >= 0; --i)
        {
            float[] box = new float[4];
            results.get(i, 0, box); //方框
            float[] conf = new float[1];
            results.get(i, 4, conf); //检测数据
            float[] cls = new float[1];
            results.get(i, 5, cls); //类别

            if (!IsObjectValid(box, conf, cls, rgbaMat))
            {
                return false;
            }
            hasValidObject = true;
            voloResultBox.Clear();
            voloResultBox.Add(box);
            voloResultBox.Add(conf);
            voloResultBox.Add(cls);
            break;
        }

        if (!hasValidObject) //没有检测到人体
        {
            Debug.Log("No person block found. Re-Estimation.");
            return false; //重新检测
        }

        voloResult = voloResultBox;
        return true;
    }


    protected bool IsObjectValid(float[] box, float[] confidence, float[] classID, Mat rgbaMat)
    {
        if ((int)classID[0] != 0 || confidence[0] < 0.8f) //只检测人体，且置信度大于80%
            return false;

        //是否满足主驾/副驾的位置条件
        float width = rgbaMat.width();
        //获取矩形的中点
        float centerX = (box[0] + box[2]) / 2;
        //左边副驾驶，右边主驾驶

        return true;
    }

    public void DebugPrintObjectLayout(Mat image, float[] box, float[] conf, float[] cls, bool isRGB = false)
    {

        float left = box[0];
        float top = box[1];
        float right = box[2];
        float bottom = box[3];
        int classId = (int)cls[0];

        Scalar c = _objectDetector.palette[classId % _objectDetector.palette.Count];
        Scalar color = isRGB ? c : new Scalar(c.val[2], c.val[1], c.val[0], c.val[3]);

        Imgproc.rectangle(image, new Point(left, top), new Point(right, bottom), color, 2);

        string label = String.Format("{0:0.00}", conf[0]);
        if (_objectDetector.classNames != null && _objectDetector.classNames.Count != 0)
        {
            if (classId < (int)_objectDetector.classNames.Count)
            {
                label = _objectDetector.classNames[classId] + " " + label;
            }
        }

        int[] baseLine = new int[1];
        Size labelSize = Imgproc.getTextSize(label, Imgproc.FONT_HERSHEY_SIMPLEX, 0.5, 1, baseLine);

        top = Mathf.Max((float)top, (float)labelSize.height);
        Imgproc.rectangle(image, new Point(left, top - labelSize.height),
            new Point(left + labelSize.width, top + baseLine[0]), color, Core.FILLED);
        Imgproc.putText(image, label, new Point(left, top), Imgproc.FONT_HERSHEY_SIMPLEX, 0.5, Scalar.all(255), 1, Imgproc.LINE_AA);
    }

    public abstract bool Esitmate(Mat bgrMat, List<float[]> voloResultBox, out List<Point> points);

    public virtual void Check(ref Mat img) { }
}