from ultralytics import YOLO
import cv2
import gradio as gr
import numpy as np
import spaces
import os
import torch
import utils
import plotly.graph_objects as go

from image_segmenter import ImageSegmenter
from monocular_depth_estimator import MonocularDepthEstimator
from point_cloud_generator import display_pcd






device = torch.device("cpu")  # Start in CPU mode

def initialize_gpu():
    """Ensure ZeroGPU assigns a GPU before initializing CUDA"""
    global device
    try:
        with spaces.GPU():  # Ensures ZeroGPU assigns a GPU
            torch.cuda.empty_cache()  # Prevent leftover memory issues
            if torch.cuda.is_available():
                device = torch.device("cuda")
                print(f"✅ GPU initialized: {torch.cuda.get_device_name(0)}")
            else:
                print("❌ No GPU detected after ZeroGPU allocation.")
                device = torch.device("cpu")
    except Exception as e:
        print(f"🚨 GPU initialization failed: {e}")
        device = torch.device("cpu")


# Run GPU initialization before using CUDA
initialize_gpu()




# params
CANCEL_PROCESSING = False

img_seg = ImageSegmenter(model_type="yolov8s-seg")
depth_estimator = MonocularDepthEstimator(model_type="midas_v21_small_256")

@spaces.GPU  # Ensures ZeroGPU assigns a GPU
def process_image(image):
    image = utils.resize(image)
    image_segmentation, objects_data = img_seg.predict(image)
    depthmap, depth_colormap = depth_estimator.make_prediction(image)
    dist_image = utils.draw_depth_info(image, depthmap, objects_data)
    objs_pcd = utils.generate_obj_pcd(depthmap, objects_data)
    plot_fig = display_pcd(objs_pcd)
    return image_segmentation, depth_colormap, dist_image, plot_fig



@spaces.GPU  # Requests GPU for depth estimation
def test_process_img(image):
    image = utils.resize(image)
    image_segmentation, objects_data = img_seg.predict(image)
    depthmap, depth_colormap = depth_estimator.make_prediction(image)
    return image_segmentation, objects_data, depthmap, depth_colormap

@spaces.GPU
def process_video(vid_path=None):
    vid_cap = cv2.VideoCapture(vid_path)
    while vid_cap.isOpened():
        ret, frame = vid_cap.read()
        if ret:
            print("making predictions ....")
            frame = utils.resize(frame)
            image_segmentation, objects_data = img_seg.predict(frame)
            depthmap, depth_colormap = depth_estimator.make_prediction(frame)
            dist_image = utils.draw_depth_info(frame, depthmap, objects_data)
            yield cv2.cvtColor(image_segmentation, cv2.COLOR_BGR2RGB), depth_colormap, cv2.cvtColor(dist_image, cv2.COLOR_BGR2RGB)
    return None



def update_segmentation_options(options):
    img_seg.is_show_bounding_boxes = True if 'Show Boundary Box' in options else False
    img_seg.is_show_segmentation = True if 'Show Segmentation Region' in options else False
    img_seg.is_show_segmentation_boundary = True if 'Show Segmentation Boundary' in options else False

def update_confidence_threshold(thres_val):
    img_seg.confidence_threshold = thres_val/100

@spaces.GPU  # Ensures YOLO + MiDaS get GPU access
def model_selector(model_type):
    global img_seg, depth_estimator

    if "Small - Better performance and less accuracy" == model_type:
        midas_model, yolo_model = "midas_v21_small_256", "yolov8s-seg"
    elif "Medium - Balanced performance and accuracy" == model_type:
        midas_model, yolo_model = "dpt_hybrid_384", "yolov8m-seg"
    elif "Large - Slow performance and high accuracy" == model_type:
        midas_model, yolo_model = "dpt_large_384", "yolov8l-seg"
    else:
        midas_model, yolo_model = "midas_v21_small_256", "yolov8s-seg"

    img_seg = ImageSegmenter(model_type=yolo_model)
    depth_estimator = MonocularDepthEstimator(model_type=midas_model)

    # START 
    # added for lens studio 

    
def get_box_vertices(bbox):
    """Convert bbox to corner vertices"""
    x1, y1, x2, y2 = bbox
    return [
        [x1, y1],  # top-left
        [x2, y1],  # top-right
        [x2, y2],  # bottom-right
        [x1, y2]   # bottom-left
    ]

def depth_at_center(depth_map, bbox):
    """Get depth at center of bounding box"""
    x1, y1, x2, y2 = bbox
    center_x = int((x1 + x2) / 2)
    center_y = int((y1 + y2) / 2)
    
    # Sample a small region around center for stability
    region = depth_map[
        max(0, center_y-2):min(depth_map.shape[0], center_y+3),
        max(0, center_x-2):min(depth_map.shape[1], center_x+3)
    ]
    return np.median(region)

def get_camera_matrix(depth_estimator):
    """Get camera calibration matrix"""
    return {
        "fx": depth_estimator.fx_depth,
        "fy": depth_estimator.fy_depth,
        "cx": depth_estimator.cx_depth,
        "cy": depth_estimator.cy_depth
    }

@spaces.GPU
def get_detection_data(image):
    """Get structured detection data with depth information"""
    try:
        # Resize image to standard size
        image = utils.resize(image)
        
        # Get detections and depth
        image_segmentation, objects_data = img_seg.predict(image)
        depthmap, depth_colormap = depth_estimator.make_prediction(image)
        
        # Process each detection
        detections = []
        for data in objects_data:
            cls_id, cls_name, cls_center, cls_mask, cls_clr = data
            
            # Get masked depth for this object
            masked_depth, mean_depth = utils.get_masked_depth(depthmap, cls_mask)
            
            # Get bounding box from mask
            y_indices, x_indices = np.where(cls_mask > 0)
            if len(x_indices) > 0 and len(y_indices) > 0:
                x1, x2 = np.min(x_indices), np.max(x_indices)
                y1, y2 = np.min(y_indices), np.max(y_indices)
            else:
                continue
                
            # Normalize coordinates
            height, width = image.shape[:2]
            bbox_normalized = [
                float(x1/width),
                float(y1/height),
                float(x2/width),
                float(y2/height)
            ]
            
            detection = {
                "id": int(cls_id),
                "category": cls_name,
                "center": [
                    float(cls_center[0]/width),
                    float(cls_center[1]/height)
                ],
                "bbox": bbox_normalized,
                "depth": float(mean_depth * 10),  # Convert to meters as done in utils
                "color": [float(c/255) for c in cls_clr],
                "mask": cls_mask.tolist(),
                "confidence": 1.0  # Add actual confidence if available
            }
            detections.append(detection)
        
        # Get camera parameters from depth estimator
        camera_params = {
            "fx": depth_estimator.fx_depth,
            "fy": depth_estimator.fy_depth,
            "cx": depth_estimator.cx_depth,
            "cy": depth_estimator.cy_depth
        }
        
        # Generate point cloud data if needed
        point_clouds = utils.generate_obj_pcd(depthmap, objects_data)
        pcd_data = [
            {
                "points": np.asarray(pcd.points).tolist(),
                "color": [float(c/255) for c in color]
            }
            for pcd, color in point_clouds
        ]
        
        return {
            "detections": detections,
            "depth_map": depthmap.tolist(),
            "camera_params": camera_params,
            "image_size": {
                "width": width,
                "height": height
            },
            "point_clouds": pcd_data
        }
        
    except Exception as e:
        print(f"Error in get_detection_data: {str(e)}")
        raise
    # ENDS

def cancel():
    CANCEL_PROCESSING = True

if __name__ == "__main__":

    # testing
    # img_1 = cv2.imread("assets/images/bus.jpg")
    # img_1 = utils.resize(img_1)

    # image_segmentation, objects_data, depthmap, depth_colormap = test_process_img(img_1)
    # final_image = utils.draw_depth_info(image_segmentation, depthmap, objects_data)
    # objs_pcd = utils.generate_obj_pcd(depthmap, objects_data)
    # # print(objs_pcd[0][0])
    # display_pcd(objs_pcd, use_matplotlib=True)

    # cv2.imshow("Segmentation", image_segmentation)
    # cv2.imshow("Depth", depthmap*objects_data[2][3])
    # cv2.imshow("Final", final_image)

    # cv2.waitKey(0)
    # cv2.destroyAllWindows()

    # gradio gui app
    with gr.Blocks() as my_app:

        # title
        gr.Markdown("<h1><center>Simultaneous Segmentation and Depth Estimation</center></h1>")
        gr.Markdown("<h3><center>Created by Vaishanth</center></h3>")
        gr.Markdown("<h3><center>This model estimates the depth of segmented objects.</center></h3>")

        # tabs
        with gr.Tab("Image"):
            with gr.Row():
                with gr.Column(scale=1):
                    img_input = gr.Image()
                    model_type_img = gr.Dropdown(
                        ["Small - Better performance and less accuracy", 
                         "Medium - Balanced performance and accuracy", 
                         "Large - Slow performance and high accuracy"], 
                        label="Model Type", value="Small - Better performance and less accuracy",
                        info="Select the inference model before running predictions!")
                    options_checkbox_img = gr.CheckboxGroup(["Show Boundary Box", "Show Segmentation Region", "Show Segmentation Boundary"], label="Options")
                    conf_thres_img = gr.Slider(1, 100, value=60, label="Confidence Threshold", info="Choose the threshold above which objects should be detected")
                    submit_btn_img = gr.Button(value="Predict")                    

                with gr.Column(scale=2):
                    with gr.Row():
                        segmentation_img_output = gr.Image(height=300, label="Segmentation")
                        depth_img_output = gr.Image(height=300, label="Depth Estimation")
                    
                    with gr.Row():
                        dist_img_output = gr.Image(height=300, label="Distance")
                        pcd_img_output = gr.Plot(label="Point Cloud")
            
            gr.Markdown("## Sample Images")
            gr.Examples(
                examples=[os.path.join(os.path.dirname(__file__), "assets/images/baggage_claim.jpg"),
                          os.path.join(os.path.dirname(__file__), "assets/images/kitchen_2.png"),
                          os.path.join(os.path.dirname(__file__), "assets/images/soccer.jpg"),
                          os.path.join(os.path.dirname(__file__), "assets/images/room_2.png"),
                          os.path.join(os.path.dirname(__file__), "assets/images/living_room.jpg")],
                inputs=img_input,
                outputs=[segmentation_img_output, depth_img_output, dist_img_output, pcd_img_output],
                fn=process_image,
                cache_examples=True,
            )

        with gr.Tab("Video"):
            with gr.Row():
                with gr.Column(scale=1):
                    vid_input = gr.Video()
                    model_type_vid = gr.Dropdown(
                        ["Small - Better performance and less accuracy", 
                         "Medium - Balanced performance and accuracy", 
                         "Large - Slow performance and high accuracy"], 
                        label="Model Type", value="Small - Better performance and less accuracy",
                        info="Select the inference model before running predictions!")
                    
                    options_checkbox_vid = gr.CheckboxGroup(["Show Boundary Box", "Show Segmentation Region", "Show Segmentation Boundary"], label="Options")
                    conf_thres_vid = gr.Slider(1, 100, value=60, label="Confidence Threshold", info="Choose the threshold above which objects should be detected")
                    with gr.Row():
                        cancel_btn = gr.Button(value="Cancel")
                        submit_btn_vid = gr.Button(value="Predict")
            
                with gr.Column(scale=2):
                    with gr.Row():
                        segmentation_vid_output = gr.Image(height=300, label="Segmentation")
                        depth_vid_output = gr.Image(height=300, label="Depth Estimation")
                    
                    with gr.Row():
                        dist_vid_output = gr.Image(height=300, label="Distance")
            
            gr.Markdown("## Sample Videos")
            gr.Examples(
                examples=[os.path.join(os.path.dirname(__file__), "assets/videos/input_video.mp4"),
                          os.path.join(os.path.dirname(__file__), "assets/videos/driving.mp4"),
                          os.path.join(os.path.dirname(__file__), "assets/videos/overpass.mp4"),
                          os.path.join(os.path.dirname(__file__), "assets/videos/walking.mp4")],
                inputs=vid_input,
                # outputs=vid_output,
                # fn=vid_segmenation,
            )
            
        # Add a new hidden tab or interface for the API endpoint
        with gr.Tab("API", visible=False):  # Hidden from UI but accessible via API
            input_image = gr.Image()
            output_json = gr.JSON()
            gr.Interface(
                fn=get_detection_data,
                inputs=input_image,
                outputs=output_json,
                title="Get Detection Data",
                api_name="get_detection_data"  # This sets the endpoint name
            )
            

        # image tab logic
        submit_btn_img.click(process_image, inputs=img_input, outputs=[segmentation_img_output, depth_img_output, dist_img_output, pcd_img_output])
        options_checkbox_img.change(update_segmentation_options, options_checkbox_img, [])
        conf_thres_img.change(update_confidence_threshold, conf_thres_img, [])
        model_type_img.change(model_selector, model_type_img, [])

        # video tab logic
        submit_btn_vid.click(process_video, inputs=vid_input, outputs=[segmentation_vid_output, depth_vid_output, dist_vid_output])
        model_type_vid.change(model_selector, model_type_vid, [])
        cancel_btn.click(cancel, inputs=[], outputs=[])
        options_checkbox_vid.change(update_segmentation_options, options_checkbox_vid, [])
        conf_thres_vid.change(update_confidence_threshold, conf_thres_vid, [])      

    my_app.queue(max_size=20).launch(share=True)  # Add share=True here