"""
Visualize 6D pose annotations by projecting local frame axes onto RGB images.

Coordinate conventions
----------------------
- All matrices are **row-major** (Isaac Sim / USD convention).
  Transforms are applied as:  p_out = p_in @ M   (row vector on the left)

- World / object space uses a **right-handed, Y-up** frame (OpenGL convention).
    +X : right
    +Y : up
    -Z : into the scene (camera looks toward -Z in camera space)

- Camera space also follows **OpenGL**:
    +X : right,  +Y : up,  -Z : into the scene

- Screen space follows **OpenCV / image** convention:
    +u : right,  +v : down,  origin at top-left

  Conversion from OpenGL camera space → OpenCV screen space:
    x_cv =  x_gl
    y_cv = -y_gl   (flip Y)
    z_cv = -z_gl   (flip Z; positive depth is in front)

Matrix fields in the JSON
--------------------------
- camera_view_matrix      (4x4, row-major) : world → camera
- local_to_world_transform (4x4, row-major) : object-local → world
- intrinsics              : {fx, fy, cx, cy} in pixels
"""

import json
import numpy as np
from PIL import Image, ImageDraw
import argparse


def project_world_point_to_screen(world_point, view_matrix, intrinsics):
    """Project a homogeneous world-space point to pixel coordinates.

    Uses row-major convention: cam = world_point @ view_matrix.
    Converts OpenGL camera space (y-up, -z forward) to OpenCV screen space (y-down, +z forward).
    Returns None if the point is behind the camera (z_cv <= 0).
    """
    p = np.array([*world_point[:3], 1.0]) if len(world_point) == 3 else np.array(world_point)
    cam = p @ view_matrix                       # row-major: point on the left
    x, y, z = cam[0], -cam[1], -cam[2]         # OpenGL → OpenCV axis flip
    if z <= 0:
        return None
    u = intrinsics['fx'] * x / z + intrinsics['cx']
    v = intrinsics['fy'] * y / z + intrinsics['cy']
    return round(u), round(v)


def draw_local_frame_axes(draw, local_to_world_transform, camera_view_matrix, intrinsics, size_local, origin_local, axes_length_perc=1.5):
    """Draw X/Y/Z axes of the object's local frame onto the image.

    Axis length is scaled by the mean object size * axes_length_perc.
    Pipeline: local → world  (@ L),  world → screen  (project_world_point_to_screen).
    """
    L = np.array(local_to_world_transform)  # row-major local→world (4x4)
    V = np.array(camera_view_matrix)        # row-major world→camera (4x4)
    ax_len = np.mean(size_local) * axes_length_perc
    ox, oy, oz = origin_local

    points_local = {
        'origin': [ox,          oy,          oz,          1],
        'x':      [ox + ax_len, oy,          oz,          1],
        'y':      [ox,          oy + ax_len, oz,          1],
        'z':      [ox,          oy,          oz + ax_len, 1],
    }
    pts2d = {k: project_world_point_to_screen(np.array(v) @ L, V, intrinsics)
             for k, v in points_local.items()}

    o = pts2d['origin']
    for key, color in [('x', 'red'), ('y', 'green'), ('z', 'blue')]:
        if o is not None and pts2d[key] is not None:
            draw.line([o, pts2d[key]], fill=color, width=5)


def draw_world_frame_axes_bottom_left(draw, camera_view_matrix, intrinsics, screen_size, axes_scale=0.1, margin_percentage=0.05):
    """Draw world-frame X/Y/Z axes in the bottom-left corner as a reference gizmo.

    Places a virtual origin 1 unit in front of the camera (OpenGL: z=-1 in camera space),
    converts it to world space via the inverse view matrix, then re-projects to screen.
    The axes are offset so they appear anchored to the bottom-left corner.
    """
    V = np.array(camera_view_matrix)
    V_inv = np.linalg.inv(V)
    # z=-1 in OpenGL camera space = 1 unit in front of the camera
    origin_world = np.array([0, 0, -1.0, 1]) @ V_inv  # camera → world

    pts2d = {}
    pts2d['origin'] = project_world_point_to_screen(origin_world, V, intrinsics)
    for key, delta in [('x', [axes_scale, 0, 0, 0]), ('y', [0, axes_scale, 0, 0]), ('z', [0, 0, axes_scale, 0])]:
        pts2d[key] = project_world_point_to_screen(origin_world + np.array(delta), V, intrinsics)

    if any(v is None for v in pts2d.values()):
        return

    # Shift projected axes to bottom-left corner
    margin = int(margin_percentage * min(screen_size))
    all_x = [pts2d[k][0] for k in pts2d]
    all_y = [pts2d[k][1] for k in pts2d]
    ox = margin - min(all_x)
    oy = screen_size[1] - margin - max(all_y)

    o = (pts2d['origin'][0] + ox, pts2d['origin'][1] + oy)
    for key, color in [('x', 'red'), ('y', 'green'), ('z', 'blue')]:
        end = (pts2d[key][0] + ox, pts2d[key][1] + oy)
        draw.line([o, end], fill=color, width=3)


def main(image_path, json_path, output_path):
    rgb_img = Image.open(image_path)
    draw = ImageDraw.Draw(rgb_img)

    with open(json_path, 'r') as f:
        data = json.load(f)

    camera_data = data["camera_data"]
    V = camera_data["camera_view_matrix"]   # row-major world→camera (4x4)
    intrinsics = camera_data["intrinsics"]  # {fx, fy, cx, cy} in pixels
    screen_size = tuple(camera_data["resolution"])  # (width, height)

    for obj in data["objects"]:
        b = obj["bbox_3d_local"]
        size_local   = [b["x_max"] - b["x_min"], b["y_max"] - b["y_min"], b["z_max"] - b["z_min"]]
        center_local = [(b["x_min"] + b["x_max"]) / 2, (b["y_min"] + b["y_max"]) / 2, (b["z_min"] + b["z_max"]) / 2]

        draw_local_frame_axes(draw, obj["local_to_world_transform"], V, intrinsics, size_local, center_local)

    draw_world_frame_axes_bottom_left(draw, V, intrinsics, screen_size)

    rgb_img.save(output_path)
    print(f"Overlay image saved to: {output_path}")


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--image",  type=str, required=True)
    parser.add_argument("--json",   type=str, required=True)
    parser.add_argument("--output", type=str, required=True)
    args = parser.parse_args()

    main(args.image, args.json, args.output)