/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2026, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <mrpt/examples_config.h>
#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/img/CImage.h>
#include <mrpt/opengl/CText.h>
#include <mrpt/opengl/CTexturedPlane.h>

#include <chrono>
#include <iostream>
#include <thread>

const std::string myTestFile(
    MRPT_EXAMPLES_BASE_DIRECTORY + std::string("img_basic_example/frame_color.jpg"));

using namespace std;
using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::opengl;
using namespace mrpt::math;
using namespace mrpt::img;

// ------------------------------------------------------
//				TextureSizes_test
// ------------------------------------------------------
void TextureSizes_test()
{
  // Prepare a few test images: color & BW, random size and 2^N size.
  // -------------------------------------------------------------------
  CImage imgCol_N, imgBW_N;
  CImage imgCol_2N, imgBW_2N;

  if (!imgCol_N.loadFromFile(myTestFile))
  {
    cerr << "Cannot load " << myTestFile << endl;
    return;
  }

  imgCol_N.scaleImage(imgCol_2N, 512, 512);

  imgCol_N.grayscale(imgBW_N);
  imgCol_2N.grayscale(imgBW_2N);

  // Masks:
  const int W = imgCol_N.getWidth();
  const int H = imgCol_N.getHeight();

  CImage transpMask_N(W, H, CH_GRAY);
  for (int y = 0; y < H; y++)
    for (int x = 0; x < W; x++) *transpMask_N(x, y) = (((x + y) >> 5) & 1) ? 240 : 10;

  CImage transpMask_2N;
  transpMask_N.scaleImage(transpMask_2N, 512, 512);

  cout << "Loaded image size: " << imgCol_N.getWidth() << "x" << imgCol_N.getHeight() << endl;
  cout << "2^N image size   : " << imgCol_2N.getWidth() << "x" << imgCol_2N.getHeight() << endl;

  CDisplayWindow3D win("Test of MRPT's OpenGL textures", 640, 480);

  Scene::Ptr& theScene = win.get3DSceneAndLock();

  double off_x = 0;
  const double off_y_label = 4;
  const double STEP_X = 15;

  if (true)
  {
    opengl::CTexturedPlane::Ptr obj = opengl::CTexturedPlane::Create(-3, 3, -3, 3);
    obj->assignImage(imgCol_N);
    obj->setLocation(off_x, 0, 0);
    theScene->insert(obj);

    opengl::CText::Ptr gl_txt = opengl::CText::Create("Color texture, random size, w/o transp");
    gl_txt->setLocation(off_x, off_y_label, 0);
    theScene->insert(gl_txt);
  }
  off_x += STEP_X;

  if (true)
  {
    opengl::CTexturedPlane::Ptr obj = opengl::CTexturedPlane::Create(-3, 3, -3, 3);
    obj->assignImage(imgCol_N, transpMask_N);
    obj->setLocation(off_x, 0, 0);
    theScene->insert(obj);

    opengl::CText::Ptr gl_txt = opengl::CText::Create("Color texture, random size, with transp");
    gl_txt->setLocation(off_x, off_y_label, 0);
    theScene->insert(gl_txt);
  }
  off_x += STEP_X;

  if (true)
  {
    opengl::CTexturedPlane::Ptr obj = opengl::CTexturedPlane::Create(-3, 3, -3, 3);
    obj->assignImage(imgBW_N);
    obj->setLocation(off_x, 0, 0);
    theScene->insert(obj);

    opengl::CText::Ptr gl_txt = opengl::CText::Create("B/W texture, random size, w/o transp");
    gl_txt->setLocation(off_x, off_y_label, 0);
    theScene->insert(gl_txt);
  }
  off_x += STEP_X;

  if (true)
  {
    opengl::CTexturedPlane::Ptr obj = opengl::CTexturedPlane::Create(-3, 3, -3, 3);
    obj->assignImage(imgBW_N, transpMask_N);
    obj->setLocation(off_x, 0, 0);
    theScene->insert(obj);

    opengl::CText::Ptr gl_txt = opengl::CText::Create("B/W texture, random size, with transp");
    gl_txt->setLocation(off_x, off_y_label, 0);
    theScene->insert(gl_txt);
  }
  off_x += STEP_X;

  if (true)
  {
    opengl::CTexturedPlane::Ptr obj = opengl::CTexturedPlane::Create(-3, 3, -3, 3);
    obj->assignImage(imgCol_2N);
    obj->setLocation(off_x, 0, 0);
    theScene->insert(obj);

    opengl::CText::Ptr gl_txt = opengl::CText::Create("Color texture, 2^N size, w/o transp");
    gl_txt->setLocation(off_x, off_y_label, 0);
    theScene->insert(gl_txt);
  }
  off_x += STEP_X;

  if (true)
  {
    opengl::CTexturedPlane::Ptr obj = opengl::CTexturedPlane::Create(-3, 3, -3, 3);
    obj->assignImage(imgCol_2N, transpMask_2N);
    obj->setLocation(off_x, 0, 0);
    theScene->insert(obj);

    opengl::CText::Ptr gl_txt = opengl::CText::Create("Color texture, 2^N size, with transp");
    gl_txt->setLocation(off_x, off_y_label, 0);
    theScene->insert(gl_txt);
  }
  off_x += STEP_X;

  if (true)
  {
    opengl::CTexturedPlane::Ptr obj = opengl::CTexturedPlane::Create(-3, 3, -3, 3);
    obj->assignImage(imgBW_2N);
    obj->setLocation(off_x, 0, 0);
    theScene->insert(obj);

    opengl::CText::Ptr gl_txt = opengl::CText::Create("B/W texture, 2^N size, w/o transp");
    gl_txt->setLocation(off_x, off_y_label, 0);
    theScene->insert(gl_txt);
  }
  off_x += STEP_X;

  if (true)
  {
    opengl::CTexturedPlane::Ptr obj = opengl::CTexturedPlane::Create(-3, 3, -3, 3);
    obj->assignImage(imgBW_2N, transpMask_2N);
    obj->setLocation(off_x, 0, 0);
    theScene->insert(obj);

    opengl::CText::Ptr gl_txt = opengl::CText::Create("B/W texture, 2^N size, with transp");
    gl_txt->setLocation(off_x, off_y_label, 0);
    theScene->insert(gl_txt);
  }
  off_x += STEP_X;

  win.setCameraZoom(150);
  win.setCameraAzimuthDeg(90);

  // IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED!
  win.unlockAccess3DScene();
  win.repaint();

  cout << "Close the window to end.\n";
  while (win.isOpen())
  {
    win.addTextMessage(5, 5, mrpt::format("%.02fFPS", win.getRenderingFPS()));
    std::this_thread::sleep_for(2ms);
    win.repaint();
  }
}

// ------------------------------------------------------
//						MAIN
// ------------------------------------------------------
int main()
{
  try
  {
    TextureSizes_test();

    return 0;
  }
  catch (const std::exception& e)
  {
    std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
    return -1;
  }
}
