import sys
import cv2
import numpy as np
from typing import List, Tuple, Optional
from shapely.geometry import LineString, Polygon


def plane_from_P(P, cam_pos, principal_point):
    def is_invertible(a):
        # return a.shape[0] == a.shape[1] and np.linalg.matrix_rank(a) == a.shape[0]
        return np.linalg.cond(a) < 1 / np.finfo(a.dtype).eps

    if not any(np.isnan(P.flatten())):
        H = np.delete(P, 2, axis=1)
        pp = np.array([principal_point[0], principal_point[1], 1.])

        if is_invertible(H):
            pp_proj = np.linalg.inv(H) @ pp
        else:
            pp_proj = np.linalg.pinv(H) @ pp
        pp_proj /= pp_proj[-1]
        plane_vector = pp_proj - cam_pos

        return plane_vector, cam_pos
    else:
        return None, None


def plane_from_H(H, cam_pos, principal_point):
    def is_invertible(a):
        # return a.shape[0] == a.shape[1] and np.linalg.matrix_rank(a) == a.shape[0]
        return np.linalg.cond(a) < 1 / np.finfo(a.dtype).eps

    if not any(np.isnan(H.flatten())):
        pp = np.array([principal_point[0], principal_point[1], 1.])

        if is_invertible(H):
            pp_proj = np.linalg.inv(H) @ pp
        else:
            pp_proj = np.linalg.pinv(H) @ pp
        pp_proj /= pp_proj[-1]
        plane_vector = pp_proj - cam_pos

        return plane_vector, cam_pos
    else:
        return None, None


def is_in_front_of_plane(point, plane_normal, plane_point):
    return np.dot(point - plane_point, plane_normal) > 0


def line_plane_intersection(p1, p2, plane_normal, plane_point, epsilon=0.5):
    points_clipped = []
    p1 = np.array(p1)
    p2 = np.array(p2)

    p1_f = is_in_front_of_plane(p1, plane_normal, plane_point)
    p2_f = is_in_front_of_plane(p2, plane_normal, plane_point)
    p_f = [p1_f, p2_f]

    if not p1_f and not p2_f:
        return points_clipped

    if (p1_f and p2_f):
        return [p1, p2]

    for count, p in enumerate([p1, p2]):
        if p_f[count]:
            points_clipped.append(p)
        else:
            # Line direction vector
            line_dir = p2 - p1

            # Check if the line and plane are parallel
            denom = np.dot(plane_normal, line_dir)
            if np.isclose(denom, 0):
                # Line and plane are parallel (no intersection or line is within the plane)
                continue

            # Calculate the value of t
            t = np.dot(plane_normal, (plane_point - p1)) / denom

            # Find the intersection point
            intersection_point = p1 + t * line_dir
            intersection_point += epsilon * plane_normal / np.linalg.norm(plane_normal)
            points_clipped.append(intersection_point)

    return points_clipped


def get_opt_vector(pos, rot):
    position_meters = pos
    rotation = rot
    rot_vector, _ = cv2.Rodrigues(rotation)

    return np.concatenate((position_meters, rot_vector.ravel()))


def vector_to_mtx(vector, mtx):
    x_focal_length = mtx[0, 0]
    y_focal_length = mtx[1, 1]
    principal_point = (mtx[0, 2], mtx[1, 2])
    position_meters = vector[:3]

    rot_vector = np.array(vector[3:])
    rotation, _ = cv2.Rodrigues(rot_vector)

    It = np.eye(4)[:-1]
    It[:, -1] = -position_meters
    Q = np.array([[x_focal_length, 0, principal_point[0]],
                  [0, y_focal_length, principal_point[1]],
                  [0, 0, 1]])
    P = Q @ (rotation @ It)

    return P


def point_to_line_distance(l1, l2, p):
    A = (l2[1] - l1[1])
    B = (l2[0] - l1[0])
    C = l2[0] * l1[1] - l2[1] * l1[0]

    num = (A * p[0] - B * p[1] + C)
    den = np.sqrt(A ** 2 + B ** 2)

    if den > 0:
        return num / den
    else:
        return 0