#!/usr/bin/env python3
"""Publish the cross-backend-consensus result as the recommended deliverable."""
import argparse
import json
from pathlib import Path


def main():
    parser = argparse.ArgumentParser(description=__doc__)
    parser.add_argument("--consensus-extrinsic", required=True)
    parser.add_argument("--consensus-check", required=True)
    parser.add_argument("--open3d-extrinsic", required=True)
    parser.add_argument("--small-extrinsic", required=True)
    parser.add_argument("--output", required=True)
    parser.add_argument("--summary", required=True)
    args = parser.parse_args()
    consensus = json.loads(Path(args.consensus_extrinsic).read_text(encoding="utf-8-sig"))
    check = json.loads(Path(args.consensus_check).read_text(encoding="utf-8-sig"))
    open3d = json.loads(Path(args.open3d_extrinsic).read_text(encoding="utf-8-sig"))
    small = json.loads(Path(args.small_extrinsic).read_text(encoding="utf-8-sig"))
    summary = {
        "recommended_method": "Open3D B gated by Open3D-small_gicp cross-backend agreement",
        "selection_is_X_independent": True,
        "second_batch_role": "estimation (dense RTK)",
        "first_batch_role": "auxiliary check only (sparse RTK)",
        "consensus": {
            "translation_m": consensus["translation_m"],
            "rotation_rpy_deg_xyz": consensus["rotation_rpy_deg_xyz"],
            "estimation": consensus["estimation"]["residuals"],
            "bootstrap_std": consensus["bootstrap"]["std"],
            "batch1_auxiliary": check["metrics"],
        },
        "separate_backend_results": {
            "open3d_gicp": {
                "translation_m": open3d["translation_m"],
                "rotation_rpy_deg_xyz": open3d["rotation_rpy_deg_xyz"],
            },
            "small_gicp": {
                "translation_m": small["translation_m"],
                "rotation_rpy_deg_xyz": small["rotation_rpy_deg_xyz"],
            },
        },
        "warning": "AX rotation RMS remains about one degree; this is not centimetre-grade absolute certification.",
    }
    published = dict(consensus)
    published["selection"] = {
        "method": summary["recommended_method"],
        "selection_is_X_independent": True,
        "consensus_pair_threshold": "Open3D-small_gicp B delta <= 0.05 m and <= 0.50 deg",
        "warning": summary["warning"],
    }
    Path(args.output).write_text(json.dumps(published, ensure_ascii=False, indent=2), encoding="utf-8")
    Path(args.summary).write_text(json.dumps(summary, ensure_ascii=False, indent=2), encoding="utf-8")
    print(json.dumps(summary, ensure_ascii=False, indent=2))


if __name__ == "__main__":
    main()