// Copyright (c), ETH Zurich and UNC Chapel Hill.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//
//     * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
//       its contributors may be used to endorse or promote products derived
//       from this software without specific prior written permission.
//
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.

#pragma once

#include "colmap/controllers/option_manager.h"
#include "colmap/estimators/bundle_adjustment.h"
#include "colmap/scene/reconstruction_manager.h"
#include "colmap/util/enum_utils.h"
#include "colmap/util/threading.h"

#include <filesystem>
#include <memory>
#include <string>

namespace colmap {

class AutomaticReconstructionController : public Thread {
 public:
  MAKE_ENUM_CLASS(DataType, 0, INDIVIDUAL, VIDEO, INTERNET);
  MAKE_ENUM_CLASS(Quality, 0, LOW, MEDIUM, HIGH, EXTREME);
  MAKE_ENUM_CLASS(Feature, 0, SIFT, ALIKED);
  MAKE_ENUM_CLASS(Mapper, 0, INCREMENTAL, HIERARCHICAL, GLOBAL);
  MAKE_ENUM_CLASS(Mesher, 0, POISSON, DELAUNAY, ADVANCING_FRONT);

  struct Options {
    // The path to the workspace folder in which all results are stored.
    std::filesystem::path workspace_path;

    // The path to the image folder which are used as input.
    std::filesystem::path image_path;

    // Optional list of image names to reconstruct. The list must contain the
    // relative path of the images with respect to the image_path.
    std::vector<std::string> image_names;

    // The path to the mask folder which are used as input.
    std::filesystem::path mask_path;

    // The path to the vocabulary tree for feature matching.
    std::filesystem::path vocab_tree_path;

    // The type of input data used to choose optimal mapper settings.
    DataType data_type = DataType::INDIVIDUAL;

    // Whether to perform low- or high-quality reconstruction.
    Quality quality = Quality::HIGH;

    // Whether to use shared intrinsics or not.
    bool single_camera = false;

    // Whether to use shared intrinsics or not for all images in the same
    // sub-folder.
    bool single_camera_per_folder = false;

    // Which camera model to use for images.
    std::string camera_model = "SIMPLE_RADIAL";

    // Initial camera params for all images.
    std::string camera_params;

    // Whether to perform feature extraction.
    bool extraction = true;

    // Whether to perform feature matching.
    bool matching = true;

    // Whether to perform sparse mapping.
    bool sparse = true;

// Whether to perform dense mapping.
#if defined(COLMAP_CUDA_ENABLED) && defined(COLMAP_MVS_ENABLED)
    bool dense = true;
#else
    bool dense = false;
#endif

    // The feature extraction/matching algorithm to be used.
    Feature feature = Feature::SIFT;

    // The mapping algorithm to be used.
    Mapper mapper = Mapper::INCREMENTAL;

    // The meshing algorithm to be used.
    Mesher mesher = Mesher::POISSON;

    // The number of threads to use in all stages.
    int num_threads = -1;

    // The random seed to use in all stages.
    int random_seed = -1;

    // Whether to use the GPU in feature extraction, feature matching, and
    // bundle adjustment.
    bool use_gpu = true;

    // Index of the GPU used for GPU stages. For multi-GPU computation in
    // feature extraction/matching, you should separate multiple GPU indices by
    // comma, e.g., "0,1,2,3". For single-GPU stages only the first GPU will be
    // used. By default, all available GPUs will be used in all stages.
    std::string gpu_index = "-1";

    // Bundle adjustment solver backend for local and global BA.
    BundleAdjustmentBackend ba_backend = BundleAdjustmentBackend::CERES;
  };

  AutomaticReconstructionController(
      const Options& options,
      std::shared_ptr<ReconstructionManager> reconstruction_manager);

  // Whether any of the selected reconstruction stages requires OpenGL.
  bool RequiresOpenGL() const;

  void Setup();
  void Stop() override;

 private:
  void Run() override;
  void RunFeatureExtraction();
  void RunFeatureMatching();
  void RunSparseMapper();
  void RunDenseMapper();

  const Options options_;
  OptionManager option_manager_;
  std::shared_ptr<ReconstructionManager> reconstruction_manager_;
  Thread* active_thread_;
  std::unique_ptr<Thread> feature_extractor_;
  std::unique_ptr<Thread> exhaustive_matcher_;
  std::unique_ptr<Thread> sequential_matcher_;
  std::unique_ptr<Thread> vocab_tree_matcher_;
};

}  // namespace colmap
