#!/usr/bin/env python

from argaze.ArUcoMarkers import ArUcoMarkersDictionary

import numpy
import cv2 as cv
import cv2.aruco as aruco

class ArUcoBoard():
    """Calibration chess board with ArUco markers inside."""

    def __init__(self, aruco_dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary, columns: int, rows: int, square_size: float, marker_size: float):
        """Create columns x rows chess board with ArUco markers at given size in centimeters."""

        # Store ArUco markers dictionary
        self.__aruco_dict = aruco_dictionary

        # Store properties
        self.__columns = columns
        self.__rows = rows
        self.__square_size = square_size  # in cm
        self.__marker_size = marker_size  # in cm

        # Create board model
        self.__board = aruco.CharucoBoard_create(self.__columns, self.__rows, self.__square_size/100., self.__marker_size/100., self.__aruco_dict.markers)

    def __del__(self):
        pass

    @property
    def model(self) -> aruco.CharucoBoard:
        """Get the board model."""

        return self.__board

    @property
    def identifiers(self) -> list[int]:
        """Get board markers identifiers."""

        return self.__board.ids

    @property
    def size(self)-> int:
        """Get numbers of columns and rows."""

        return self.__board.getChessboardSize()

    @property
    def markers_number(self) -> int:
        """Get number of markers."""

        return len(self.__board.ids)

    @property
    def corners_number(self) -> int:
        """Get number of corners."""

        return (self.__board.getChessboardSize()[0] - 1 ) * (self.__board.getChessboardSize()[1] - 1)

    def save(self, destination_folder: str, dpi: int):
        """Save a picture of the calibration board."""

        output_filename = f'{self.__aruco_dict.name}_{self.__marker_size}cm_{self.__columns*self.__square_size}cmx{self.__rows*self.__square_size}cm.png'

        dimension = [round(d * self.__board.getSquareLength() * 100 * dpi / 2.54) for d in self.__board.getChessboardSize()]  # 1 cm = 2.54 inches

        cv.imwrite(f'{destination_folder}/{output_filename}', self.__board.draw(dimension))