import numpy as np

from matplotlib.lines import Line2D


def rotz(t):
    """Rotation about the z-axis."""
    c = np.cos(t)
    s = np.sin(t)
    return np.array([[c, -s, 0], [s, c, 0], [0, 0, 1]])


def draw_box_and_pc(points, boxes, names=None):
    import matplotlib.pyplot as plt

    _, ax = plt.subplots(1, 1, figsize=(9, 9))
    axes_limit = 40
    # points: LiDAR points with shape [-1, 3]
    viz_points = points
    dists = np.sqrt(np.sum(viz_points[:, :2] ** 2, axis=1))
    colors = np.minimum(1, dists / axes_limit / np.sqrt(2))

    # prepare color_map
    points_color = np.array([[245, 150, 100]]).reshape(1, 3).repeat(points.shape[0], 0)
    points_color = points_color / 255.0
    point_scale = 0.2
    scatter = ax.scatter(viz_points[:, 0], viz_points[:, 1], c=points_color, s=point_scale)

    ax.plot(0, 0, "x", color="red")
    ax.set_xlim(-axes_limit, axes_limit)
    ax.set_ylim(-axes_limit, axes_limit)

    if names is None:
        draw_box_3d(boxes, ax)
    else:
        color_map = {
            "vehicle": "green",
            "bicycle": "blue",
            "pedestrian": "red",
            "traffic_cone": "darkred",
            "barrier": "peru",
            "czone_sign": "pink",
            "generic_object": "black",
        }
        colors = [color_map[name] for name in names]
        draw_box_3d(boxes, ax, linestyle="--", colors=colors)

    ax.axis("off")
    ax.set_aspect("equal")
    plt.savefig("dbg/dbg.png", bbox_inches="tight", pad_inches=0, dpi=200)


def draw_box_3d(boxes, ax, linestyle="--", colors="cyan"):
    for o in range(len(boxes)):
        color = colors[o]
        obj = boxes[o]
        c_x, c_y, c_z, l, w, h, rz = obj[0], obj[1], obj[2], obj[3], obj[4], obj[5], obj[6]

        R = rotz(rz)

        # 3d bounding box corners
        x_corners = [l / 2, l / 2, -l / 2, -l / 2, l / 2, l / 2, -l / 2, -l / 2]
        y_corners = [w / 2, -w / 2, -w / 2, w / 2, w / 2, -w / 2, -w / 2, w / 2]
        z_corners = [h, h, h, h, 0, 0, 0, 0]

        # rotate and translate 3d bounding box
        corners_3d = np.dot(R, np.vstack([x_corners, y_corners, z_corners]))

        corners_3d[0, :] = corners_3d[0, :] + c_x
        corners_3d[1, :] = corners_3d[1, :] + c_y
        corners_3d[2, :] = corners_3d[2, :] + c_z

        corners_3d_velo = np.transpose(corners_3d)

        x1, x2, x3, x4 = corners_3d_velo[0:4, 0]
        y1, y2, y3, y4 = corners_3d_velo[0:4, 1]

        polygon = np.zeros([5, 2], dtype=np.float32)
        polygon[0, 0] = x1
        polygon[1, 0] = x2
        polygon[2, 0] = x3
        polygon[3, 0] = x4
        polygon[4, 0] = x1

        polygon[0, 1] = y1
        polygon[1, 1] = y2
        polygon[2, 1] = y3
        polygon[3, 1] = y4
        polygon[4, 1] = y1

        line1 = [(x1, y1), (x2, y2)]
        line2 = [(x2, y2), (x3, y3)]
        line3 = [(x3, y3), (x4, y4)]
        line4 = [(x4, y4), (x1, y1)]
        (line1_xs, line1_ys) = zip(*line1)
        (line2_xs, line2_ys) = zip(*line2)
        (line3_xs, line3_ys) = zip(*line3)
        (line4_xs, line4_ys) = zip(*line4)
        ax.add_line(Line2D(line1_xs, line1_ys, linewidth=1, linestyle=linestyle, color=color))
        ax.add_line(Line2D(line2_xs, line2_ys, linewidth=1, linestyle=linestyle, color=color))
        ax.add_line(Line2D(line3_xs, line3_ys, linewidth=1, linestyle=linestyle, color=color))
        ax.add_line(Line2D(line4_xs, line4_ys, linewidth=1, linestyle=linestyle, color=color))