import os, sys
import cv2
import numpy as np
import pickle
import time
import yaml
import trimesh

import torch

import xml.etree.ElementTree as ET

from sklearn.decomposition import IncrementalPCA

# from npbg.gl.import_ import import_model3d
from npbg.gl.programs import NNScene


class TicToc:
    def __init__(self):
        self.tic_toc_tic = None

    def tic(self):
        self.tic_toc_tic = time.time()

    def toc(self):
        assert self.tic_toc_tic, 'You forgot to call tic()'
        return (time.time() - self.tic_toc_tic) * 1000

    def tocp(self, str):
        print(f"{str} took {self.toc():.4f}ms")

    @staticmethod
    def print_timing(timing, name=''):
        print(f'\n=== {name} Timimg ===')
        for fn, times in timing.items():
            min, max, mean, p95 = np.min(times), np.max(times), np.mean(times), np.percentile(times, 95)
            print(f'{fn}:\tmin: {min:.4f}\tmax: {max:.4f}\tmean: {mean:.4f}ms\tp95: {p95:.4f}ms')


class FastRand:
    def __init__(self, shape, tform, bank_size):
        bank = []
        for i in range(bank_size):
            p = np.random.rand(*shape)
            p = tform(p)
            bank.append(p)

        self.bank = bank

    def toss(self):
        i = np.random.randint(0, len(self.bank))
        return self.bank[i]


def cv2_write(fn, x):
    x = np.clip(x, 0, 1) * 255
    x = x[..., :3][..., ::-1]
    cv2.imwrite(fn, x.astype(np.uint8))


def to_numpy(x, float16=False, flipv=True):
    if not isinstance(x, np.ndarray):
        x = x.detach().cpu().numpy()

    if float16:
        x = x.astype(np.float16)

    if flipv:
        x = x[::-1].copy()

    return x


def pca_color(tex, save='', load=''):
    tex = tex[0].transpose(1, 0)
    if load and os.path.exists(load):
        print('loading...')
        with open(load,'rb') as f:
            pca=pickle.load(f)
        print('applying...')
        res=pca.transform(tex)
    else:
        pca=IncrementalPCA(n_components=3, batch_size=64)
        print('applying...')
        res=pca.fit_transform(tex)
    if save and save != load:
        with open(save,'wb') as f:
            pickle.dump(pca,f)
    # pca_color_n=(pca_color - pca_color.min()) / (pca_color.max() - pca_color.min())
    # return res.transpose(1, 0)[None]
    return res


def crop_proj_matrix(pm, old_w, old_h, new_w, new_h):
    # NOTE: this is not precise
    old_cx = old_w / 2
    old_cy = old_h / 2
    new_cx = new_w / 2
    new_cy = new_h / 2

    pm_new = pm.copy()
    pm_new[0,0] = pm[0,0]*old_w/new_w
    pm_new[0,2] = (pm[0,2]-1)*old_w*new_cx/old_cx/new_w + 1
    pm_new[1,1] = pm[1,1]*old_h/new_h
    pm_new[1,2] = (pm[0,2]+1)*old_h*new_cy/old_cy/new_h - 1
    return pm_new


def recalc_proj_matrix_planes(pm, new_near=.01, new_far=1000.):
    depth = float(new_far - new_near)
    q = -(new_far + new_near) / depth
    qn = -2 * (new_far * new_near) / depth

    out = pm.copy()

    # Override near and far planes
    out[2, 2] = q
    out[2, 3] = qn

    return out


def get_proj_matrix(K, image_size, znear=.01, zfar=1000.):
    fx = K[0,0]
    fy = K[1,1]
    cx = K[0,2]
    cy = K[1,2]
    width, height = image_size
    m = np.zeros((4, 4))
    m[0][0] = 2.0 * fx / width
    m[0][1] = 0.0
    m[0][2] = 0.0
    m[0][3] = 0.0

    m[1][0] = 0.0
    m[1][1] = 2.0 * fy / height
    m[1][2] = 0.0
    m[1][3] = 0.0

    m[2][0] = 1.0 - 2.0 * cx / width
    m[2][1] = 2.0 * cy / height - 1.0
    m[2][2] = (zfar + znear) / (znear - zfar)
    m[2][3] = -1.0

    m[3][0] = 0.0
    m[3][1] = 0.0
    m[3][2] = 2.0 * zfar * znear / (znear - zfar)
    m[3][3] = 0.0

    return m.T


def rescale_K(K_, sx, sy, keep_fov=True):
    K = K_.copy()
    K[0, 2] = sx * K[0, 2]
    K[1, 2] = sy * K[1, 2]
    if keep_fov:
        K[0, 0] = sx * K[0, 0]
        K[1, 1] = sy * K[1, 1]
    return K


def crop_intrinsic_matrix(K, old_size, new_size):
    K = K.copy()
    K[0, 2] = new_size[0] * K[0, 2] / old_size[0]
    K[1, 2] = new_size[1] * K[1, 2] / old_size[1]
    return K


def intrinsics_from_xml(xml_file):
    root = ET.parse(xml_file).getroot()
    calibration = root.find('chunk/sensors/sensor/calibration')
    resolution = calibration.find('resolution')
    width = float(resolution.get('width'))
    height = float(resolution.get('height'))
    f = float(calibration.find('f').text)
    cx = width/2
    cy = height/2

    K = np.array([
        [f, 0, cx],
        [0, f, cy],
        [0, 0,  1]
        ], dtype=np.float32)

    return K, (width, height)


def extrinsics_from_xml(xml_file, verbose=False):
    root = ET.parse(xml_file).getroot()
    transforms = {}
    for e in root.findall('chunk/cameras')[0].findall('camera'):
        label = e.get('label')
        try:
            transforms[label] = e.find('transform').text
        except:
            if verbose:
                print('failed to align camera', label)

    view_matrices = []
    # labels_sort = sorted(list(transforms), key=lambda x: int(x))
    labels_sort = list(transforms)
    for label in labels_sort:
        extrinsic = np.array([float(x) for x in transforms[label].split()]).reshape(4, 4)
        extrinsic[:, 1:3] *= -1
        view_matrices.append(extrinsic)

    return view_matrices, labels_sort


def extrinsics_from_view_matrix(path):
    vm = np.loadtxt(path).reshape(-1,4,4)
    vm, ids = get_valid_matrices(vm)

    # we want consistent camera label data type, as cameras from xml
    ids = [str(i) for i in ids]

    return vm, ids


def setup_scene(scene, data, use_mesh=False, use_texture=False):
    if data['mesh'] is not None and data['pointcloud'] is None or use_mesh or use_texture:
        assert 'mesh' in data, 'use pointcloud or set mesh'
        model3d = data['mesh']
    else:
        assert 'pointcloud' in data, 'use mesh or set pointcloud'
        model3d = data['pointcloud']

    scene.set_vertices(
        positions=model3d['xyz'],
        colors=model3d['rgb'],
        normals=model3d['normals'],
        uv1d=model3d['uv1d'],
        uv2d=model3d['uv2d'],
        texture=data['texture'])

    if data['proj_matrix'] is not None:
        scene.set_proj_matrix(data['proj_matrix'])
    else:
        print('proj_matrix was not set')

    if data['view_matrix'] is not None or len(data['view_matrix']) > 0:
        scene.set_camera_view(data['view_matrix'][0])
    else:
        print('view_matrix was not set')

    scene.set_model_view(data['model3d_origin'])
    scene.set_indices(model3d['faces'])

    if data['point_sizes'] is not None:
        scene.set_point_sizes(data['point_sizes'])

    scene.set_use_texture(use_texture)


def load_scene_data(path):
    with open(path, 'r') as f:
        config = yaml.load(f)

    if 'pointcloud' in config:
        print('loading pointcloud...')
        pointcloud = import_model3d(fix_relative_path(config['pointcloud'], path))
    else:
        pointcloud = None

    if 'mesh' in config and config['mesh']:
        print('loading mesh...')
        uv_order = config['uv_order'] if 'uv_order' in config else 's,t'
        mesh = import_model3d(fix_relative_path(config['mesh'], path), uv_order=uv_order.split(','), is_mesh=True)
    else:
        mesh = None

    if config.get('texture'):
        print('loading texture...')
        texture = cv2.imread(fix_relative_path(config['texture'], path))
        assert texture is not None
        texture = texture[..., ::-1].copy()
    else:
        texture = None

    if 'intrinsic_matrix' in config:
        apath = fix_relative_path(config['intrinsic_matrix'], path)
        if apath[-3:] == 'xml':
            intrinsic_matrix, (width, height) = intrinsics_from_xml(apath)
            assert tuple(config['viewport_size']) == (width, height), f'calibration width, height: ({width}, {height})'
        else:
            intrinsic_matrix = np.loadtxt(apath)[:3, :3]
    else:
        intrinsic_matrix = None

    if 'proj_matrix' in config:
        proj_matrix = np.loadtxt(fix_relative_path(config['proj_matrix'], path))
        proj_matrix = recalc_proj_matrix_planes(proj_matrix)
    else:
        proj_matrix = None

    if 'view_matrix' in config:
        apath = fix_relative_path(config['view_matrix'], path)
        if apath[-3:] == 'xml':
            view_matrix, camera_labels = extrinsics_from_xml(apath)
        else:
            view_matrix, camera_labels = extrinsics_from_view_matrix(apath)
    else:
        view_matrix = None
    # print(camera_labels)

    if 'model3d_origin' in config:
        model3d_origin = np.loadtxt(fix_relative_path(config['model3d_origin'], path))
    else:
        model3d_origin = np.eye(4)

    if 'point_sizes' in config:
        point_sizes = np.load(fix_relative_path(config['point_sizes'], path))
    else:
        point_sizes = None

    config['viewport_size'] = tuple(config['viewport_size'])

    # if 'use_mesh' in config:
    #     use_mesh = config['use_mesh']
    # elif pointcloud is None and mesh is not None:
    #     use_mesh = True
    # else:
    #     use_mesh = False

    if 'net_path' in config:
        net_ckpt = os.path.join(config['net_path'], 'checkpoints', config['ckpt'])
        net_ckpt = fix_relative_path(net_ckpt, path)

        tex_ckpt = os.path.join(config['net_path'], 'checkpoints', config['texture_ckpt'])
        tex_ckpt = fix_relative_path(tex_ckpt, path)
    else:
        net_ckpt = None
        tex_ckpt = None

    return {
    'pointcloud': pointcloud,
    'point_sizes': point_sizes,
    'mesh': mesh,
    # 'use_mesh': use_mesh,
    'texture': texture,
    'proj_matrix': proj_matrix,
    'intrinsic_matrix': intrinsic_matrix,
    'view_matrix': view_matrix,
    'camera_labels': camera_labels,
    'model3d_origin': model3d_origin,
    'config': config,

    'net_ckpt': net_ckpt,
    'tex_ckpt': tex_ckpt
    }


def load_scene(config_path):
    scene_data = load_scene_data(config_path)

    scene = NNScene()
    setup_scene(scene, scene_data)

    return scene, scene_data


def fix_relative_path(path, config_path):
    if not os.path.exists(path) and not os.path.isabs(path):
        root = os.path.dirname(config_path)
        abspath = os.path.join(root, path)
        if os.path.exists(abspath):
            return abspath
    return path


def get_valid_matrices(mlist):
    ilist = []
    vmlist = []
    for i, m in enumerate(mlist):
        if np.isfinite(m).all():
            ilist.append(i)
            vmlist.append(m)

    return vmlist, ilist


def get_xyz_colors(xyz, r=8):
    mmin, mmax = xyz.min(axis=0), xyz.max(axis=0)
    color = (xyz - mmin) / (mmax - mmin)
    # color = 0.5 + 0.5 * xyz / r
    return np.clip(color, 0., 1.).astype(np.float32)

def get_normal_colors(normals):
    # [-1,+1]->[0,1]
    return (normals * 0.5 + 0.5).astype(np.float32)


def import_model3d(model_path, uv_order=None, is_mesh=False):
    print("import_model3d working dir:", os.getcwd())
    print("import_model3d loading: ", model_path)
    data = trimesh.load(model_path)

    n_pts = data.vertices.shape[0]

    model = {
        'rgb': None,
        'normals': None,
        'uv2d': None,
        'faces': None
    }

    if is_mesh:
        if hasattr(data.visual, 'vertex_colors'):
            model['rgb'] = data.visual.vertex_colors[:, :3] / 255.
        elif hasattr(data.visual, 'to_color'):
            try:
                # for some reason, it may fail (happens on blender exports)
                model['rgb'] = data.visual.to_color().vertex_colors[:, :3] / 255.
            except:
                print('data.visual.to_color failed')

        model['normals'] = data.vertex_normals

        if hasattr(data.visual, 'uv'):
            model['uv2d'] = data.visual.uv
        # elif model_path[-3:] == 'ply':
        #     mdata = data.metadata['ply_raw']['vertex']['data']
        #     if 's' in mdata and 't' in mdata:
        #         print('using s,t texture coords')
        #         model['uv2d'] = np.hstack([mdata['s'], mdata['t']])
        #         print(model['uv2d'].shape)

        model['faces'] = data.faces.flatten().astype(np.uint32)
    else:
        if hasattr(data, 'colors'):
            model['rgb'] = data.colors[:, :3] / 255.
        else:
            try:
                model['rgb'] = data.visual.vertex_colors[:, :3] / 255.
            except:
                pass

        if 'ply_raw' in data.metadata:
            normals = np.zeros((n_pts, 3), dtype=np.float32)

            # my exported point cloud stores the normal with one [1] dimension that is squeezed away here
            normals[:, 0] = np.squeeze(data.metadata['ply_raw']['vertex']['data']['nx'])
            normals[:, 1] = np.squeeze(data.metadata['ply_raw']['vertex']['data']['ny'])
            normals[:, 2] = np.squeeze(data.metadata['ply_raw']['vertex']['data']['nz'])
            model['normals'] = normals
        elif hasattr(data, 'vertex_normals'):
            model['normals'] = data.vertex_normals

        model['uv2d'] = np.zeros((n_pts, 2), dtype=np.float32)

    model['xyz'] = data.vertices
    model['xyz_c'] = get_xyz_colors(data.vertices)
    model['uv1d'] = np.arange(n_pts)

    if model['rgb'] is None:
        print(f'no colors in {model_path}')
        model['rgb'] = np.zeros((n_pts, 3), dtype=np.float32)

    if model['normals'] is None:
        print(f'no normals in {model_path}')
        model['rgb'] = np.zeros((n_pts, 3), dtype=np.float32)

    if model['uv2d'] is None:
        if is_mesh:
            print(f'no uv in {model_path}')
        model['uv2d'] = np.zeros((n_pts, 2), dtype=np.float32)

    if model['faces'] is None:
        if is_mesh:
            print(f'no faces in {model_path}')
        model['faces'] = np.array([0, 1, 2], dtype=np.uint32)

    print('=== 3D model ===')
    print('VERTICES: ', n_pts)
    print('EXTENT: ', model['xyz'].min(0), model['xyz'].max(0))
    print('================')

    return model


def get_vec(view_mat):
    view_mat = view_mat.copy()
    rvec0 = cv2.Rodrigues(view_mat[:3, :3])[0].flatten()
    t0 = view_mat[:3, 3]
    return rvec0, t0


def nearest_train(view_mat, test_pose, p=0.05):
    dists = []
    angs = []
    test_rvec, test_t = get_vec(test_pose)
    for i in range(len(view_mat)):
        rvec, t = get_vec(view_mat[i])
        dists.append(
            np.linalg.norm(test_t - t)
        )
        angs.append(
            np.linalg.norm(test_rvec - rvec)
        )
    angs_sort = np.argsort(angs)
    angs_sort = angs_sort[:int(len(angs_sort) * p)]
    dists_pick = [dists[i] for i in angs_sort]
    ang_dist_i = angs_sort[np.argmin(dists_pick)]
    return ang_dist_i #, angs_sort[0]


import os, sys
import cv2
import numpy as np
import pickle
import time
import yaml
import trimesh

import torch

import xml.etree.ElementTree as ET

from sklearn.decomposition import IncrementalPCA

# from npbg.gl.import_ import import_model3d
from npbg.gl.programs import NNScene


class TicToc:
    def __init__(self):
        self.tic_toc_tic = None

    def tic(self):
        self.tic_toc_tic = time.time()

    def toc(self):
        assert self.tic_toc_tic, 'You forgot to call tic()'
        return (time.time() - self.tic_toc_tic) * 1000

    def tocp(self, str):
        print(f"{str} took {self.toc():.4f}ms")

    @staticmethod
    def print_timing(timing, name=''):
        print(f'\n=== {name} Timimg ===')
        for fn, times in timing.items():
            min, max, mean, p95 = np.min(times), np.max(times), np.mean(times), np.percentile(times, 95)
            print(f'{fn}:\tmin: {min:.4f}\tmax: {max:.4f}\tmean: {mean:.4f}ms\tp95: {p95:.4f}ms')


class FastRand:
    def __init__(self, shape, tform, bank_size):
        bank = []
        for i in range(bank_size):
            p = np.random.rand(*shape)
            p = tform(p)
            bank.append(p)

        self.bank = bank

    def toss(self):
        i = np.random.randint(0, len(self.bank))
        return self.bank[i]


def cv2_write(fn, x):
    x = np.clip(x, 0, 1) * 255
    x = x[..., :3][..., ::-1]
    cv2.imwrite(fn, x.astype(np.uint8))


def to_numpy(x, float16=False, flipv=True):
    if not isinstance(x, np.ndarray):
        x = x.detach().cpu().numpy()

    if float16:
        x = x.astype(np.float16)

    if flipv:
        x = x[::-1].copy()

    return x


def pca_color(tex, save='', load=''):
    tex = tex[0].transpose(1, 0)
    if load and os.path.exists(load):
        print('loading...')
        with open(load,'rb') as f:
            pca=pickle.load(f)
        print('applying...')
        res=pca.transform(tex)
    else:
        pca=IncrementalPCA(n_components=3, batch_size=64)
        print('applying...')
        res=pca.fit_transform(tex)
    if save and save != load:
        with open(save,'wb') as f:
            pickle.dump(pca,f)
    # pca_color_n=(pca_color - pca_color.min()) / (pca_color.max() - pca_color.min())
    # return res.transpose(1, 0)[None]
    return res


def crop_proj_matrix(pm, old_w, old_h, new_w, new_h):
    # NOTE: this is not precise
    old_cx = old_w / 2
    old_cy = old_h / 2
    new_cx = new_w / 2
    new_cy = new_h / 2

    pm_new = pm.copy()
    pm_new[0,0] = pm[0,0]*old_w/new_w
    pm_new[0,2] = (pm[0,2]-1)*old_w*new_cx/old_cx/new_w + 1
    pm_new[1,1] = pm[1,1]*old_h/new_h
    pm_new[1,2] = (pm[0,2]+1)*old_h*new_cy/old_cy/new_h - 1
    return pm_new


def recalc_proj_matrix_planes(pm, new_near=.01, new_far=1000.):
    depth = float(new_far - new_near)
    q = -(new_far + new_near) / depth
    qn = -2 * (new_far * new_near) / depth

    out = pm.copy()

    # Override near and far planes
    out[2, 2] = q
    out[2, 3] = qn

    return out


def get_proj_matrix(K, image_size, znear=.01, zfar=1000.):
    fx = K[0,0]
    fy = K[1,1]
    cx = K[0,2]
    cy = K[1,2]
    width, height = image_size
    m = np.zeros((4, 4))
    m[0][0] = 2.0 * fx / width
    m[0][1] = 0.0
    m[0][2] = 0.0
    m[0][3] = 0.0

    m[1][0] = 0.0
    m[1][1] = 2.0 * fy / height
    m[1][2] = 0.0
    m[1][3] = 0.0

    m[2][0] = 1.0 - 2.0 * cx / width
    m[2][1] = 2.0 * cy / height - 1.0
    m[2][2] = (zfar + znear) / (znear - zfar)
    m[2][3] = -1.0

    m[3][0] = 0.0
    m[3][1] = 0.0
    m[3][2] = 2.0 * zfar * znear / (znear - zfar)
    m[3][3] = 0.0

    return m.T


def rescale_K(K_, sx, sy, keep_fov=True):
    K = K_.copy()
    K[0, 2] = sx * K[0, 2]
    K[1, 2] = sy * K[1, 2]
    if keep_fov:
        K[0, 0] = sx * K[0, 0]
        K[1, 1] = sy * K[1, 1]
    return K


def crop_intrinsic_matrix(K, old_size, new_size):
    K = K.copy()
    K[0, 2] = new_size[0] * K[0, 2] / old_size[0]
    K[1, 2] = new_size[1] * K[1, 2] / old_size[1]
    return K


def intrinsics_from_xml(xml_file):
    root = ET.parse(xml_file).getroot()
    calibration = root.find('chunk/sensors/sensor/calibration')
    resolution = calibration.find('resolution')
    width = float(resolution.get('width'))
    height = float(resolution.get('height'))
    f = float(calibration.find('f').text)
    cx = width/2
    cy = height/2

    K = np.array([
        [f, 0, cx],
        [0, f, cy],
        [0, 0,  1]
        ], dtype=np.float32)

    return K, (width, height)


def extrinsics_from_xml(xml_file, verbose=False):
    root = ET.parse(xml_file).getroot()
    transforms = {}
    for e in root.findall('chunk/cameras')[0].findall('camera'):
        label = e.get('label')
        try:
            transforms[label] = e.find('transform').text
        except:
            if verbose:
                print('failed to align camera', label)

    view_matrices = []
    # labels_sort = sorted(list(transforms), key=lambda x: int(x))
    labels_sort = list(transforms)
    for label in labels_sort:
        extrinsic = np.array([float(x) for x in transforms[label].split()]).reshape(4, 4)
        extrinsic[:, 1:3] *= -1
        view_matrices.append(extrinsic)

    return view_matrices, labels_sort


def extrinsics_from_view_matrix(path):
    vm = np.loadtxt(path).reshape(-1,4,4)
    vm, ids = get_valid_matrices(vm)

    # we want consistent camera label data type, as cameras from xml
    ids = [str(i) for i in ids]

    return vm, ids


def setup_scene(scene, data, use_mesh=False, use_texture=False):
    if data['mesh'] is not None and data['pointcloud'] is None or use_mesh or use_texture:
        assert 'mesh' in data, 'use pointcloud or set mesh'
        model3d = data['mesh']
    else:
        assert 'pointcloud' in data, 'use mesh or set pointcloud'
        model3d = data['pointcloud']

    scene.set_vertices(
        positions=model3d['xyz'],
        colors=model3d['rgb'],
        normals=model3d['normals'],
        uv1d=model3d['uv1d'],
        uv2d=model3d['uv2d'],
        texture=data['texture'])

    if data['proj_matrix'] is not None:
        scene.set_proj_matrix(data['proj_matrix'])
    else:
        print('proj_matrix was not set')

    if data['view_matrix'] is not None or len(data['view_matrix']) > 0:
        scene.set_camera_view(data['view_matrix'][0])
    else:
        print('view_matrix was not set')

    scene.set_model_view(data['model3d_origin'])
    scene.set_indices(model3d['faces'])

    if data['point_sizes'] is not None:
        scene.set_point_sizes(data['point_sizes'])

    scene.set_use_texture(use_texture)


def load_scene_data(path):
    with open(path, 'r') as f:
        config = yaml.load(f)

    if 'pointcloud' in config:
        print('loading pointcloud...')
        pointcloud = import_model3d(fix_relative_path(config['pointcloud'], path))
    else:
        pointcloud = None

    if 'mesh' in config and config['mesh']:
        print('loading mesh...')
        uv_order = config['uv_order'] if 'uv_order' in config else 's,t'
        mesh = import_model3d(fix_relative_path(config['mesh'], path), uv_order=uv_order.split(','), is_mesh=True)
    else:
        mesh = None

    if config.get('texture'):
        print('loading texture...')
        texture = cv2.imread(fix_relative_path(config['texture'], path))
        assert texture is not None
        texture = texture[..., ::-1].copy()
    else:
        texture = None

    if 'intrinsic_matrix' in config:
        apath = fix_relative_path(config['intrinsic_matrix'], path)
        if apath[-3:] == 'xml':
            intrinsic_matrix, (width, height) = intrinsics_from_xml(apath)
            assert tuple(config['viewport_size']) == (width, height), f'calibration width, height: ({width}, {height})'
        else:
            intrinsic_matrix = np.loadtxt(apath)[:3, :3]
    else:
        intrinsic_matrix = None

    if 'proj_matrix' in config:
        proj_matrix = np.loadtxt(fix_relative_path(config['proj_matrix'], path))
        proj_matrix = recalc_proj_matrix_planes(proj_matrix)
    else:
        proj_matrix = None

    if 'view_matrix' in config:
        apath = fix_relative_path(config['view_matrix'], path)
        if apath[-3:] == 'xml':
            view_matrix, camera_labels = extrinsics_from_xml(apath)
        else:
            view_matrix, camera_labels = extrinsics_from_view_matrix(apath)
    else:
        view_matrix = None
    # print(camera_labels)

    if 'model3d_origin' in config:
        model3d_origin = np.loadtxt(fix_relative_path(config['model3d_origin'], path))
    else:
        model3d_origin = np.eye(4)

    if 'point_sizes' in config:
        point_sizes = np.load(fix_relative_path(config['point_sizes'], path))
    else:
        point_sizes = None

    config['viewport_size'] = tuple(config['viewport_size'])

    # if 'use_mesh' in config:
    #     use_mesh = config['use_mesh']
    # elif pointcloud is None and mesh is not None:
    #     use_mesh = True
    # else:
    #     use_mesh = False

    if 'net_path' in config:
        net_ckpt = os.path.join(config['net_path'], 'checkpoints', config['ckpt'])
        net_ckpt = fix_relative_path(net_ckpt, path)

        tex_ckpt = os.path.join(config['net_path'], 'checkpoints', config['texture_ckpt'])
        tex_ckpt = fix_relative_path(tex_ckpt, path)
    else:
        net_ckpt = None
        tex_ckpt = None

    return {
    'pointcloud': pointcloud,
    'point_sizes': point_sizes,
    'mesh': mesh,
    # 'use_mesh': use_mesh,
    'texture': texture,
    'proj_matrix': proj_matrix,
    'intrinsic_matrix': intrinsic_matrix,
    'view_matrix': view_matrix,
    'camera_labels': camera_labels,
    'model3d_origin': model3d_origin,
    'config': config,

    'net_ckpt': net_ckpt,
    'tex_ckpt': tex_ckpt
    }


def load_scene(config_path):
    scene_data = load_scene_data(config_path)

    scene = NNScene()
    setup_scene(scene, scene_data)

    return scene, scene_data


def fix_relative_path(path, config_path):
    if not os.path.exists(path) and not os.path.isabs(path):
        root = os.path.dirname(config_path)
        abspath = os.path.join(root, path)
        if os.path.exists(abspath):
            return abspath
    return path


def get_valid_matrices(mlist):
    ilist = []
    vmlist = []
    for i, m in enumerate(mlist):
        if np.isfinite(m).all():
            ilist.append(i)
            vmlist.append(m)

    return vmlist, ilist


def get_xyz_colors(xyz, r=8):
    mmin, mmax = xyz.min(axis=0), xyz.max(axis=0)
    color = (xyz - mmin) / (mmax - mmin)
    # color = 0.5 + 0.5 * xyz / r
    return np.clip(color, 0., 1.).astype(np.float32)

def get_normal_colors(normals):
    # [-1,+1]->[0,1]
    return (normals * 0.5 + 0.5).astype(np.float32)


def import_model3d(model_path, uv_order=None, is_mesh=False):
    print("import_model3d working dir:", os.getcwd())
    print("import_model3d loading: ", model_path)
    data = trimesh.load(model_path)

    n_pts = data.vertices.shape[0]

    model = {
        'rgb': None,
        'normals': None,
        'uv2d': None,
        'faces': None
    }

    if is_mesh:
        if hasattr(data.visual, 'vertex_colors'):
            model['rgb'] = data.visual.vertex_colors[:, :3] / 255.
        elif hasattr(data.visual, 'to_color'):
            try:
                # for some reason, it may fail (happens on blender exports)
                model['rgb'] = data.visual.to_color().vertex_colors[:, :3] / 255.
            except:
                print('data.visual.to_color failed')

        model['normals'] = data.vertex_normals

        if hasattr(data.visual, 'uv'):
            model['uv2d'] = data.visual.uv
        # elif model_path[-3:] == 'ply':
        #     mdata = data.metadata['ply_raw']['vertex']['data']
        #     if 's' in mdata and 't' in mdata:
        #         print('using s,t texture coords')
        #         model['uv2d'] = np.hstack([mdata['s'], mdata['t']])
        #         print(model['uv2d'].shape)

        model['faces'] = data.faces.flatten().astype(np.uint32)
    else:
        if hasattr(data, 'colors'):
            model['rgb'] = data.colors[:, :3] / 255.
        else:
            try:
                model['rgb'] = data.visual.vertex_colors[:, :3] / 255.
            except:
                pass

        if 'ply_raw' in data.metadata:
            normals = np.zeros((n_pts, 3), dtype=np.float32)

            # my exported point cloud stores the normal with one [1] dimension that is squeezed away here
            normals[:, 0] = np.squeeze(data.metadata['ply_raw']['vertex']['data']['nx'])
            normals[:, 1] = np.squeeze(data.metadata['ply_raw']['vertex']['data']['ny'])
            normals[:, 2] = np.squeeze(data.metadata['ply_raw']['vertex']['data']['nz'])
            model['normals'] = normals
        elif hasattr(data, 'vertex_normals'):
            model['normals'] = data.vertex_normals

        model['uv2d'] = np.zeros((n_pts, 2), dtype=np.float32)

    model['xyz'] = data.vertices
    model['xyz_c'] = get_xyz_colors(data.vertices)
    model['uv1d'] = np.arange(n_pts)

    if model['rgb'] is None:
        print(f'no colors in {model_path}')
        model['rgb'] = np.zeros((n_pts, 3), dtype=np.float32)

    if model['normals'] is None:
        print(f'no normals in {model_path}')
        model['rgb'] = np.zeros((n_pts, 3), dtype=np.float32)

    if model['uv2d'] is None:
        if is_mesh:
            print(f'no uv in {model_path}')
        model['uv2d'] = np.zeros((n_pts, 2), dtype=np.float32)

    if model['faces'] is None:
        if is_mesh:
            print(f'no faces in {model_path}')
        model['faces'] = np.array([0, 1, 2], dtype=np.uint32)

    print('=== 3D model ===')
    print('VERTICES: ', n_pts)
    print('EXTENT: ', model['xyz'].min(0), model['xyz'].max(0))
    print('================')

    return model


def get_vec(view_mat):
    view_mat = view_mat.copy()
    rvec0 = cv2.Rodrigues(view_mat[:3, :3])[0].flatten()
    t0 = view_mat[:3, 3]
    return rvec0, t0


def nearest_train(view_mat, test_pose, p=0.05):
    dists = []
    angs = []
    test_rvec, test_t = get_vec(test_pose)
    for i in range(len(view_mat)):
        rvec, t = get_vec(view_mat[i])
        dists.append(
            np.linalg.norm(test_t - t)
        )
        angs.append(
            np.linalg.norm(test_rvec - rvec)
        )
    angs_sort = np.argsort(angs)
    angs_sort = angs_sort[:int(len(angs_sort) * p)]
    dists_pick = [dists[i] for i in angs_sort]
    ang_dist_i = angs_sort[np.argmin(dists_pick)]
    return ang_dist_i #, angs_sort[0]


# from npbg.gl.import_ import import_model3d # pca_color_n=(pca_color - pca_color.min()) / (pca_color.max() - pca_color.min()) # return res.transpose(1, 0)[None] # NOTE: this is not precise # Override near and far planes # labels_sort = sorted(list(transforms), key=lambda x: int(x)) # we want consistent camera label data type, as cameras from xml # print(camera_labels) # if 'use_mesh' in config: #     use_mesh = config['use_mesh'] # elif pointcloud is None and mesh is not None: #     use_mesh = True # else: #     use_mesh = False # 'use_mesh': use_mesh, # color = 0.5 + 0.5 * xyz / r # [-1,+1]->[0,1] # for some reason, it may fail (happens on blender exports) # elif model_path[-3:] == 'ply': #     mdata = data.metadata['ply_raw']['vertex']['data'] #     if 's' in mdata and 't' in mdata: #         print('using s,t texture coords') #         model['uv2d'] = np.hstack([mdata['s'], mdata['t']]) #         print(model['uv2d'].shape) # my exported point cloud stores the normal with one [1] dimension that is squeezed away here #, angs_sort[0]