# Copyright 2022 AI Singapore
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     https://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

import numpy as np
import pytest

from peekingduck.pipeline.nodes.dabble.bbox_to_3d_loc import Node


@pytest.fixture
def bbox_to_3d_loc():
    node = Node(
        {
            "input": "bboxes",
            "output": "obj_3d_locs",
            "focal_length": 1.14,
            "height_factor": 2.5,
        }
    )
    return node


class TestBboxTo3dLoc:
    def test_no_bbox(self, bbox_to_3d_loc):
        array1 = []
        input1 = {"bboxes": array1}

        assert bbox_to_3d_loc.run(input1)["obj_3D_locs"] == []
        np.testing.assert_equal(input1["bboxes"], array1)

    def test_multi_bboxes(self, bbox_to_3d_loc):
        array1 = [np.array([0.1, 0.2, 0.3, 0.4]), np.array([0.5, 0.6, 0.7, 0.8])]
        input1 = {"bboxes": array1}

        assert len(bbox_to_3d_loc.run(input1)["obj_3D_locs"]) == 2
        np.testing.assert_equal(input1["bboxes"], array1)

    def test_formula(self, bbox_to_3d_loc):
        array1 = [np.array([0.408, 0.277, 0.894, 1.0])]
        input1 = {"bboxes": array1}
        output1 = bbox_to_3d_loc.run(input1)["obj_3D_locs"]
        correct_ans = [np.array([0.522, 0.479, 3.942])]

        np.testing.assert_almost_equal(output1, correct_ans, decimal=3)
        np.testing.assert_equal(input1["bboxes"], array1)
