#include 
#include 
#include "input_data.hpp"
#include "cv_utils.hpp"

namespace fs = std::filesystem;
using namespace torch::indexing;
using json = nlohmann::json;

namespace ns{ InputData inputDataFromNerfStudio(const std::string &projectRoot); }
namespace cm{ InputData inputDataFromColmap(const std::string &projectRoot, const std::string& imageSourcePath); }
namespace osfm { InputData inputDataFromOpenSfM(const std::string &projectRoot); }
namespace omvg { InputData inputDataFromOpenMVG(const std::string &projectRoot); }

InputData inputDataFromX(const std::string &projectRoot, const std::string& colmapImageSourcePath){
    fs::path root(projectRoot);

    if (fs::exists(root / "transforms.json")){
        return ns::inputDataFromNerfStudio(projectRoot);
    }else if (fs::exists(root / "sparse") || fs::exists(root / "cameras.bin")){
        return cm::inputDataFromColmap(projectRoot, colmapImageSourcePath);
    }else if (fs::exists(root / "reconstruction.json")){
        return osfm::inputDataFromOpenSfM(projectRoot);
    }else if (fs::exists(root / "opensfm" / "reconstruction.json")){
        return osfm::inputDataFromOpenSfM((root / "opensfm").string());
    }else if (fs::exists(root / "sfm_data.json")){
        return omvg::inputDataFromOpenMVG((root).string());
    }
    else{
        throw std::runtime_error("Invalid project folder (must be either a colmap or nerfstudio or openmvg project folder)");
    }
}

torch::Tensor Camera::getIntrinsicsMatrix(){
    return torch::tensor({{fx, 0.0f, cx},
                          {0.0f, fy, cy},
                          {0.0f, 0.0f, 1.0f}}, torch::kFloat32);
}

void Camera::loadImage(float downscaleFactor){
    // Populates image and K, then updates the camera parameters
    // Caution: this function has destructive behaviors
    // and should be called only once
    if (image.numel()) std::runtime_error("loadImage already called");
    std::cout