"""Pinhole camera → ground projection for aerial detections (nadir + oblique).

Geometry (local ENU frame, camera at the origin):
    world axes  X = East, Y = North, Z = Up
    camera position  C = (0, 0, H)        H = altitude above ground (AGL, metres)
    ground plane     Z = 0                (flat-earth; terrain DEM is a later refinement)

A detection at pixel (u, v) defines a ray from the camera; we rotate it into
the world by the camera pose and intersect it with the ground plane to get the
animal's ground position. The camera's *own* ground position is (0, 0) — the
nadir point — so every returned coordinate is metres East / North of the point
directly below the aircraft.

Pose convention (degrees):
    pitch = 0   -> nadir (optical axis straight down)
    pitch > 0   -> tilted FORWARD toward the horizon (oblique); the image centre
                   then lands H*tan(pitch) ahead of the nadir point
    yaw         -> heading / rotation of the ground pattern about vertical
    roll        -> rotation about the optical axis (banking); usually ~0

The maths is validated against closed-form cases in tests/test_geolocation.py
(nadir centre -> (0,0); nadir edge -> GSD-scaled offset; oblique centre ->
H*tan(pitch) forward).
"""

from __future__ import annotations

import math
from dataclasses import dataclass

import numpy as np


@dataclass
class GroundPoint:
    """A detection projected to the ground, in the local ENU frame (metres)."""

    east: float
    north: float
    range_m: float                 # slant range camera->point (for detection-function covariates)
    perp_distance: float | None = None  # |offset| from the flight line (set by project_detections)


def _rot_z(deg: float) -> np.ndarray:
    a = math.radians(deg)
    c, s = math.cos(a), math.sin(a)
    return np.array([[c, -s, 0.0], [s, c, 0.0], [0.0, 0.0, 1.0]])


def _rot_x(deg: float) -> np.ndarray:
    a = math.radians(deg)
    c, s = math.cos(a), math.sin(a)
    return np.array([[1.0, 0.0, 0.0], [0.0, c, -s], [0.0, s, c]])


# Base nadir orientation: camera optical axis (+Z_cam) -> world Down (0,0,-1);
# image-right (+X_cam) -> East; image-down (+Y_cam) -> South (top of frame = North).
_R0 = np.array([[1.0, 0.0, 0.0],
                [0.0, -1.0, 0.0],
                [0.0, 0.0, -1.0]])


@dataclass
class CameraModel:
    """Aerial camera pose + intrinsics, enough to project pixels to the ground.

    Provide focal length either as ``hfov_deg`` (horizontal field of view) or
    ``focal_px`` directly. ``altitude`` is height above the ground plane.
    """

    altitude: float
    image_width: int
    image_height: int
    hfov_deg: float | None = None
    focal_px: float | None = None
    pitch_deg: float = 0.0     # 0 = nadir
    roll_deg: float = 0.0
    yaw_deg: float = 0.0

    def focal_pixels(self) -> float:
        if self.focal_px is not None:
            return float(self.focal_px)
        if self.hfov_deg is None:
            raise ValueError("Provide either hfov_deg or focal_px.")
        return (self.image_width / 2.0) / math.tan(math.radians(self.hfov_deg) / 2.0)

    def _world_from_cam(self) -> np.ndarray:
        # R = yaw(world) @ base_nadir @ pitch(cam-X) @ roll(cam-Z)
        return _rot_z(self.yaw_deg) @ _R0 @ _rot_x(self.pitch_deg) @ _rot_z(self.roll_deg)

    def ground_sample_distance(self) -> float:
        """Metres-per-pixel at the image centre for a nadir view (altitude/focal)."""
        return self.altitude / self.focal_pixels()

    def pixel_to_ground(self, u: float, v: float) -> GroundPoint:
        """Project image pixel (u, v) to a ground point in ENU metres.

        Raises ValueError if the ray points at or above the horizon (no ground
        intersection) — which happens for oblique views looking too high.
        """
        f = self.focal_pixels()
        cx, cy = self.image_width / 2.0, self.image_height / 2.0
        # Ray in camera frame: x right, y down, z along optical axis.
        ray_cam = np.array([u - cx, v - cy, f])
        ray_world = self._world_from_cam() @ ray_cam

        dz = ray_world[2]
        if dz >= -1e-9:
            raise ValueError(
                "Pixel ray does not intersect the ground (at/above horizon) — "
                "check pitch/altitude; this pixel is sky, not ground."
            )
        t = -self.altitude / dz            # camera Z is +altitude; solve C_z + t*dz = 0
        east = float(t * ray_world[0])
        north = float(t * ray_world[1])
        # Slant range from camera (0,0,H) to ground point (east, north, 0).
        rng = float(math.sqrt(east**2 + north**2 + self.altitude**2))
        return GroundPoint(east=east, north=north, range_m=rng)


    def ground_to_pixel(self, east: float, north: float) -> tuple[float, float] | None:
        """Inverse projection: ground point (east, north, 0) -> pixel (u, v).

        Returns None if the point is behind the camera. The caller checks whether
        (u, v) falls within the image bounds. Used to simulate what a camera at a
        given pose would actually capture (round-trips pixel_to_ground exactly).
        """
        R = self._world_from_cam()
        d_world = np.array([east, north, -self.altitude])   # camera (0,0,H) -> point
        d_cam = R.T @ d_world                                # world -> camera frame
        if d_cam[2] <= 1e-9:
            return None                                      # behind the image plane
        f = self.focal_pixels()
        u = self.image_width / 2.0 + f * d_cam[0] / d_cam[2]
        v = self.image_height / 2.0 + f * d_cam[1] / d_cam[2]
        return (float(u), float(v))


def perpendicular_distance(east: float, north: float, heading_deg: float) -> float:
    """Distance from a ground point to the flight line.

    The flight line passes through the nadir point (0,0) along the aircraft
    heading. Perpendicular distance is the across-track offset — exactly the
    quantity line-transect distance sampling consumes.
    """
    # Heading unit vector in ENU (0deg = North, 90deg = East).
    h = math.radians(heading_deg)
    dir_e, dir_n = math.sin(h), math.cos(h)
    # Perpendicular (across-track) component = cross product magnitude in 2D.
    return abs(east * dir_n - north * dir_e)


def project_detections(
    detections,
    camera: CameraModel,
    heading_deg: float | None = None,
) -> list[GroundPoint]:
    """Project a batch of pixel detections to ground points (+ perpendicular distance).

    Args:
        detections: iterable of (u, v) image points — typically each detection's
            ground-contact point (e.g. bottom-centre of its box).
        camera: the CameraModel for the frame.
        heading_deg: aircraft heading; if given, each GroundPoint gets its
            ``perp_distance`` (across-track offset) filled in for distance
            sampling. Defaults to the camera yaw.

    Returns:
        list of GroundPoint. Points whose rays miss the ground (sky) are skipped.
    """
    hd = camera.yaw_deg if heading_deg is None else heading_deg
    out: list[GroundPoint] = []
    for u, v in detections:
        try:
            gp = camera.pixel_to_ground(u, v)
        except ValueError:
            continue  # ray above horizon — not a ground detection
        gp.perp_distance = perpendicular_distance(gp.east, gp.north, hd)
        out.append(gp)
    return out