"""Download one aligned training example and save a preview from its arrays."""
import argparse
from pathlib import Path
import numpy as np
from PIL import Image, ImageDraw
from huggingface_hub import HfApi, hf_hub_download

REPO = 'KAS2003/xfield-sim-core'
SAMPLE = 'demo/town12_fit.npz'

def main():
    parser = argparse.ArgumentParser()
    parser.add_argument('--revision', help='Dataset revision, defaults to the current release')
    parser.add_argument('--output', type=Path, default=Path('xfield_example.png'))
    args = parser.parse_args()
    rev = args.revision or HfApi(token=False).dataset_info(REPO, revision='refs/heads/main', expand=['sha']).sha
    file = hf_hub_download(REPO, SAMPLE, repo_type='dataset', revision=rev, token=False)
    with np.load(file, allow_pickle=False) as z:
        cube, rgb, K, T = (z[n] for n in ('cube','image_rgb','K','T'))
        assert cube.dtype == np.complex64 and cube.shape == (512,25,64) and np.isfinite(cube).all() and np.any(cube)
        assert rgb.shape == (3,360,640) and rgb.dtype == np.uint8
        assert K.shape == (3,3) and T.shape == (4,4) and np.isfinite(K).all() and np.isfinite(T).all()
        assert bool(z['dense_present']) and all(n in z.files for n in ('role','xr_gt','static_y','dense_sem','dense_height','dense_lane'))
        print('key', str(z['key']))
        for n in ('cube','image_rgb','K','T','role','xr_gt','static_y','dense_sem','dense_height','dense_lane'):
            print(n, z[n].shape, z[n].dtype)
        power = 10*np.log10(np.maximum((np.abs(cube)**2).sum(axis=2),1e-20))
        lo, hi = np.percentile(power,[5,99])
        ra = (255*np.clip((power-lo)/max(hi-lo,1e-6),0,1)).astype('uint8')
        camera = Image.fromarray(rgb.transpose(1,2,0))
        radar = Image.fromarray(ra[::-1]).resize((192,360)).convert('RGB')
        out = Image.new('RGB',(832,388),'white')
        out.paste(camera,(0,28)); out.paste(radar,(640,28))
        pen=ImageDraw.Draw(out);pen.text((7,7),'Ego RGB',fill='black');pen.text((648,7),'Radar power (range / angle)',fill='black')
        out.save(args.output)
    print('revision',rev)
    print('preview',args.output)
if __name__=='__main__':
    main()