// This file is part of the AliceVision project.

// Copyright (c) 2017 AliceVision contributors.

// This Source Code Form is subject to the terms of the Mozilla Public License,

// v. 2.0. If a copy of the MPL was not distributed with this file,

// You can obtain one at https://mozilla.org/MPL/2.0/.

#include "LargeScale.hpp"

#include <aliceVision/system/Logger.hpp>

#include <aliceVision/mvsUtils/common.hpp>

#include <aliceVision/mvsUtils/fileIO.hpp>

#include <aliceVision/fuseCut/DelaunayGraphCut.hpp>

#include <boost/filesystem.hpp>

namespace aliceVision {

namespace fuseCut {

namespace bfs = boost::filesystem;

LargeScale::LargeScale(mvsUtils::MultiViewParams* _mp, std::string _spaceFolderName)

: mp(_mp)

, spaceFolderName(_spaceFolderName)

, spaceVoxelsFolderName(_spaceFolderName + "_data/")

, spaceFileName(spaceFolderName + "/space.txt")

{

bfs::create_directory(spaceFolderName);

bfs::create_directory(spaceVoxelsFolderName);

doVisualize = mp->userParams.get<bool>("LargeScale.doVisualizeOctreeTracks", false);

}

LargeScale::~LargeScale()

{

}

bool LargeScale::isSpaceSaved()

{

return mvsUtils::FileExists(spaceFileName);

}

void LargeScale::saveSpaceToFile()

{

FILE* f = fopen(spaceFileName.c_str(), "w");

fprintf(f, "%lf %lf %lf %lf %lf %lf %lf %lf\n", space[0].x, space[1].x, space[2].x, space[3].x, space[4].x,

space[5].x, space[6].x, space[7].x);

fprintf(f, "%lf %lf %lf %lf %lf %lf %lf %lf\n", space[0].y, space[1].y, space[2].y, space[3].y, space[4].y,

space[5].y, space[6].y, space[7].y);

fprintf(f, "%lf %lf %lf %lf %lf %lf %lf %lf\n", space[0].z, space[1].z, space[2].z, space[3].z, space[4].z,

space[5].z, space[6].z, space[7].z);

fprintf(f, "%i %i %i\n", dimensions.x, dimensions.y, dimensions.z);

fprintf(f, "%i\n", maxOcTreeDim);

fclose(f);

}

void LargeScale::loadSpaceFromFile()

{

FILE* f = fopen(spaceFileName.c_str(), "r");

fscanf(f, "%lf %lf %lf %lf %lf %lf %lf %lf\n",

&space[0].x, &space[1].x, &space[2].x, &space[3].x,

&space[4].x, &space[5].x, &space[6].x, &space[7].x);

fscanf(f, "%lf %lf %lf %lf %lf %lf %lf %lf\n",

&space[0].y, &space[1].y, &space[2].y, &space[3].y,

&space[4].y, &space[5].y, &space[6].y, &space[7].y);

fscanf(f, "%lf %lf %lf %lf %lf %lf %lf %lf\n",

&space[0].z, &space[1].z, &space[2].z, &space[3].z,

&space[4].z, &space[5].z, &space[6].z, &space[7].z);

fscanf(f, "%i %i %i\n", &dimensions.x, &dimensions.y, &dimensions.z);

fscanf(f, "%i\n", &maxOcTreeDim);

fclose(f);

}

void LargeScale::initialEstimateSpace(int maxOcTreeDim)

{

float minPixSize;

Fuser* fs = new Fuser(mp);

fs->divideSpaceFromDepthMaps(&space[0], minPixSize);

dimensions = fs->estimateDimensions(&space[0], &space[0], 0, maxOcTreeDim);

delete fs;

}

std::string LargeScale::getSpaceCamsTracksDir()

{

VoxelsGrid* vg = new VoxelsGrid(dimensions, &space[0], mp, spaceVoxelsFolderName);

std::string out = vg->spaceCamsTracksDir;

delete vg;

return out;

}

LargeScale* LargeScale::cloneSpaceIfDoesNotExists(int newOcTreeDim, std::string newSpaceFolderName)

{

if(isSpaceSaved())

{

loadSpaceFromFile();

LargeScale* out = new LargeScale(mp, newSpaceFolderName);

if(out->isSpaceSaved())

{

out->loadSpaceFromFile();

return out;

}

out->space = space;

out->dimensions = dimensions;

out->doVisualize = doVisualize;

out->maxOcTreeDim = (int)((float)maxOcTreeDim / (1024.0f / (float)newOcTreeDim));

if(mp->verbose)

{

ALICEVISION_LOG_DEBUG("maxOcTreeDim new: " << out->maxOcTreeDim);

ALICEVISION_LOG_DEBUG("maxOcTreeDim old: " << maxOcTreeDim);

}

long t1 = clock();

VoxelsGrid* vgactual = new VoxelsGrid(dimensions, &space[0], mp, spaceVoxelsFolderName, doVisualize);

if(maxOcTreeDim == out->maxOcTreeDim)

{

VoxelsGrid* vgnew = vgactual->copySpace(out->spaceVoxelsFolderName);

vgnew->generateCamsPtsFromVoxelsTracks();

delete vgnew;

}

else

{

VoxelsGrid* vgnew = vgactual->cloneSpace(out->maxOcTreeDim, out->spaceVoxelsFolderName);

vgnew->generateCamsPtsFromVoxelsTracks();

delete vgnew;

}

delete vgactual;

out->saveSpaceToFile();

if(mp->verbose)

mvsUtils::printfElapsedTime(t1, "space cloned in:");

return out;

}

return nullptr;

}

bool LargeScale::generateSpace(int maxPts, int ocTreeDim, bool generateTracks)

{

if(isSpaceSaved())

{

loadSpaceFromFile();

return false;

}

maxOcTreeDim = 1024;

initialEstimateSpace(maxOcTreeDim);

maxOcTreeDim = ocTreeDim;

if(generateTracks)

{

bool addRandomNoise = mp->userParams.get<bool>("LargeScale.addRandomNoise", false);

float addRandomNoisePercNoisePts =

(float)mp->userParams.get<double>("LargeScale.addRandomNoisePercNoisePts", 10.0);

int addRandomNoiseNoisPixSizeDistHalfThr =

(float)mp->userParams.get<int>("LargeScale.addRandomNoiseNoisPixSizeDistHalfThr", 10);

std::string depthMapsPtsSimsTmpDir = generateTempPtsSimsFiles(

spaceFolderName, mp, addRandomNoise, addRandomNoisePercNoisePts, addRandomNoiseNoisPixSizeDistHalfThr);

ALICEVISION_LOG_INFO("Creating tracks: " << dimensions.x << ", " << dimensions.y << ", " << dimensions.z);

StaticVector<Point3d>* ReconstructionPlan = new StaticVector<Point3d>();

ReconstructionPlan->reserve(1000000);

std::string tmpdir = spaceFolderName + "tmp/";

bfs::create_directory(tmpdir);

VoxelsGrid* vg = new VoxelsGrid(dimensions, &space[0], mp, tmpdir, doVisualize);

int maxlevel = 0;

vg->generateTracksForEachVoxel(ReconstructionPlan, maxOcTreeDim, maxPts, 1, maxlevel, depthMapsPtsSimsTmpDir);

if(mp->verbose)

ALICEVISION_LOG_DEBUG("max rec level: " << maxlevel);

for(int i = 1; i < maxlevel; i++)

{

dimensions = dimensions * 2;

maxOcTreeDim = maxOcTreeDim / 2;

if(mp->verbose)

ALICEVISION_LOG_DEBUG("dimmension: " << dimensions.x << ", " << dimensions.y << ", " << dimensions.z << " max: " << maxOcTreeDim);

}

if(mp->verbose)

ALICEVISION_LOG_DEBUG("final dimmension: " << dimensions.x << ", " << dimensions.y << ", " << dimensions.z << " max: " << maxOcTreeDim);

VoxelsGrid* vgnew = new VoxelsGrid(dimensions, &space[0], mp, spaceVoxelsFolderName, doVisualize);

vg->generateSpace(vgnew, Voxel(0, 0, 0), dimensions, depthMapsPtsSimsTmpDir);

vgnew->generateCamsPtsFromVoxelsTracks();

if(doVisualize)

vgnew->vizualize();

delete vgnew;

delete vg;

mvsUtils::DeleteDirectory(tmpdir);

deleteTempPtsSimsFiles(mp, depthMapsPtsSimsTmpDir);

saveArrayToFile<Point3d>(spaceFolderName + "spacePatitioning.bin", ReconstructionPlan);

delete ReconstructionPlan;

saveSpaceToFile();

}

return true;

}

Point3d LargeScale::getSpaceSteps()

{

Point3d vx = space[1] - space[0];

Point3d vy = space[3] - space[0];

Point3d vz = space[4] - space[0];

Point3d sv;

sv.x = (vx.size() / (float)dimensions.x) / (float)maxOcTreeDim;

sv.y = (vy.size() / (float)dimensions.y) / (float)maxOcTreeDim;

sv.z = (vz.size() / (float)dimensions.z) / (float)maxOcTreeDim;

return sv;

}

} // namespace fuseCut

} // namespace aliceVision