import os
import logging
import numpy as np
from typing import Dict
import pandas as pd
import open3d as o3d


class MergePly:
    def __init__(self, output_dir: str):
        self.output_dir = output_dir
        self.logger = logging.getLogger('UAV_Preprocess.MergePly')

    def merge_two_plys(self, ply1_path: str, ply2_path: str, output_path: str):
        """合并两个PLY文件"""
        try:
            self.logger.info("开始合并PLY点云")
            self.logger.info(f"输入点云1: {ply1_path}")
            self.logger.info(f"输入点云2: {ply2_path}")
            self.logger.info(f"输出点云: {output_path}")

            # 检查输入文件是否存在
            if not os.path.exists(ply1_path) or not os.path.exists(ply2_path):
                raise FileNotFoundError("输入点云文件不存在")

            # 读取点云
            pcd1 = o3d.io.read_point_cloud(ply1_path)
            pcd2 = o3d.io.read_point_cloud(ply2_path)

            if pcd1 is None or pcd2 is None:
                raise ValueError("无法读取点云文件")

            # 获取点云中心
            center1 = pcd1.get_center()
            center2 = pcd2.get_center()

            # 计算平移向量
            translation_vector = center2 - center1

            # 对齐点云
            pcd2.translate(translation_vector)

            # 合并点云
            combined_pcd = pcd1 + pcd2

            # 保存合并后的点云
            if not o3d.io.write_point_cloud(output_path, combined_pcd):
                raise RuntimeError("保存合并后的点云失败")

            self.logger.info(f"点云合并成功，已保存至: {output_path}")

        except Exception as e:
            self.logger.error(f"合并PLY点云时发生错误: {str(e)}", exc_info=True)
            raise

    def merge_grid_ply(self, grid_points: Dict[int, pd.DataFrame]):
        """合并所有网格的PLY点云"""
        self.logger.info("开始合并所有网格的PLY点云")

        if len(grid_points) < 2:
            self.logger.info("只有一个网格，无需合并")
            return

        input_ply1, input_ply2 = None, None
        merge_count = 0

        try:
            for grid_idx, points in grid_points.items():
                grid_ply = os.path.join(
                    self.output_dir,
                    f"grid_{grid_idx + 1}",
                    "project",
                    "odm_georeferencing",
                    "odm_georeferenced_model.ply"
                )

                if not os.path.exists(grid_ply):
                    self.logger.warning(f"网格 {grid_idx + 1} 的PLY文件不存在: {grid_ply}")
                    continue

                if input_ply1 is None:
                    input_ply1 = grid_ply
                    self.logger.info(f"设置第一个输入PLY: {input_ply1}")
                else:
                    input_ply2 = grid_ply
                    output_ply = os.path.join(self.output_dir, "merged_pointcloud.ply")

                    self.logger.info(
                        f"开始合并第 {merge_count + 1} 次:\n"
                        f"输入1: {input_ply1}\n"
                        f"输入2: {input_ply2}\n"
                        f"输出: {output_ply}"
                    )

                    self.merge_two_plys(input_ply1, input_ply2, output_ply)
                    merge_count += 1

                    input_ply1 = output_ply
                    input_ply2 = None

            self.logger.info(
                f"PLY点云合并完成，共执行 {merge_count} 次合并，"
                f"最终输出文件: {input_ply1}"
            )

        except Exception as e:
            self.logger.error(f"PLY点云合并过程中发生错误: {str(e)}", exc_info=True)
            raise