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#include "colmap/ui/bundle_adjustment_widget.h"

#include "colmap/controllers/bundle_adjustment.h"
#include "colmap/estimators/bundle_adjustment.h"
#include "colmap/estimators/bundle_adjustment_caspar.h"
#include "colmap/estimators/bundle_adjustment_ceres.h"
#include "colmap/ui/main_window.h"
#include "colmap/util/controller_thread.h"

namespace colmap {

BundleAdjustmentWidget::BundleAdjustmentWidget(MainWindow* main_window,
                                               OptionManager* options)
    : OptionsWidget(main_window),
      main_window_(main_window),
      options_(options),
      reconstruction_(nullptr),
      thread_control_widget_(new ThreadControlWidget(this)) {
  setWindowFlags(Qt::Dialog);
  setWindowModality(Qt::ApplicationModal);
  setWindowTitle("Bundle adjustment");

  AddOptionInt(
      &options->bundle_adjustment->ceres->solver_options.max_num_iterations,
      "max_num_iterations");
  AddOptionInt(&options->bundle_adjustment->ceres->solver_options
                    .max_linear_solver_iterations,
               "max_linear_solver_iterations");

  AddOptionDoubleLog(
      &options->bundle_adjustment->ceres->solver_options.function_tolerance,
      "function_tolerance [10eX]",
      -1000,
      1000);
  AddOptionDoubleLog(
      &options->bundle_adjustment->ceres->solver_options.gradient_tolerance,
      "gradient_tolerance [10eX]",
      -1000,
      1000);
  AddOptionDoubleLog(
      &options->bundle_adjustment->ceres->solver_options.parameter_tolerance,
      "parameter_tolerance [10eX]",
      -1000,
      1000);

  AddOptionBool(&options->bundle_adjustment->refine_focal_length,
                "refine_focal_length");
  AddOptionBool(&options->bundle_adjustment->refine_principal_point,
                "refine_principal_point");
  AddOptionBool(&options->bundle_adjustment->refine_extra_params,
                "refine_extra_params");
  AddOptionBool(&options->bundle_adjustment->refine_rig_from_world,
                "refine_rig_from_world");
  AddOptionBool(&options->bundle_adjustment->refine_sensor_from_rig,
                "refine_sensor_from_rig");
  AddOptionBool(&options->bundle_adjustment->refine_points3D,
                "refine_points3D");

#ifdef CASPAR_ENABLED
  AddSection("Bundle Adjustment Backend");
  auto* backend_combo = new QComboBox(this);
  backend_combo->addItem("CERES");  // index 0 == BundleAdjustmentBackend::CERES
  backend_combo->addItem(
      "CASPAR");  // index 1 == BundleAdjustmentBackend::CASPAR
  backend_combo->setCurrentIndex(
      static_cast<int>(options->bundle_adjustment->backend));
  connect(backend_combo,
          QOverload<int>::of(&QComboBox::currentIndexChanged),
          [options](int idx) {
            options->bundle_adjustment->backend =
                static_cast<BundleAdjustmentBackend>(idx);
          });
  AddWidgetRow("backend", backend_combo);

  AddSection("Caspar Options");
  AddOptionText(&options->bundle_adjustment->caspar->gpu_index,
                "gpu_index (-1 = auto)");

  const bool caspar_active =
      options->bundle_adjustment->backend == BundleAdjustmentBackend::CASPAR;
  if (!caspar_active) {
    HideOption(&options->bundle_adjustment->caspar->gpu_index);
  }

  connect(backend_combo,
          QOverload<int>::of(&QComboBox::currentIndexChanged),
          [this, options](int idx) {
            const bool is_caspar = static_cast<BundleAdjustmentBackend>(idx) ==
                                   BundleAdjustmentBackend::CASPAR;
            if (is_caspar) {
              ShowOption(&options->bundle_adjustment->caspar->gpu_index);
            } else {
              HideOption(&options->bundle_adjustment->caspar->gpu_index);
            }
          });
#endif

  QPushButton* run_button = new QPushButton(tr("Run"), this);
  grid_layout_->addWidget(run_button, grid_layout_->rowCount(), 1);
  connect(
      run_button, &QPushButton::released, this, &BundleAdjustmentWidget::Run);

  render_action_ = new QAction(this);
  connect(render_action_,
          &QAction::triggered,
          this,
          &BundleAdjustmentWidget::Render,
          Qt::QueuedConnection);
}

void BundleAdjustmentWidget::Show(
    std::shared_ptr<Reconstruction> reconstruction) {
  reconstruction_ = std::move(reconstruction);
  show();
  raise();
}

void BundleAdjustmentWidget::Run() {
  THROW_CHECK_NOTNULL(reconstruction_);

  WriteOptions();

  auto thread = std::make_unique<ControllerThread<BundleAdjustmentController>>(
      std::make_shared<BundleAdjustmentController>(*options_, reconstruction_));
  thread->AddCallback(Thread::FINISHED_CALLBACK,
                      [this]() { render_action_->trigger(); });

  // Normalize scene for numerical stability and
  // to avoid large scale changes in viewer.
  reconstruction_->Normalize();

  thread_control_widget_->StartThread(
      "Bundle adjusting...", true, std::move(thread));
}

void BundleAdjustmentWidget::Render() { main_window_->RenderNow(); }

}  // namespace colmap
