"""Calibration chess board with ArUco markers inside.

This program is free software: you can redistribute it and/or modify it under
the terms of the GNU General Public License as published by the Free Software
Foundation, either version 3 of the License, or (at your option) any later
version.
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with
this program. If not, see <http://www.gnu.org/licenses/>.
"""

__author__ = "Théo de la Hogue"
__credits__ = []
__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
__license__ = "GPLv3"

from dataclasses import dataclass, field

from argaze.ArUcoMarkers import ArUcoMarkersDictionary

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

@dataclass
class ArUcoBoard():
    """ """

    columns: int = field(default=0)
    """Number of columns."""

    rows: int = field(default=0)
    """Number of rows."""

    square_size: float = field(default=0.)
    """Size of board square in centimeter."""

    marker_size: float = field(default=0.)
    """Size of ArUco markers inside board squares in centimeter."""

    dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary = field(default_factory=ArUcoMarkersDictionary.ArUcoMarkersDictionary)
    """ArUco markers dictionary."""

    def __post_init__(self):

        # Create board model
        self.model = aruco.CharucoBoard((self.columns, self.rows), self.square_size/100., self.marker_size/100., self.dictionary.markers)

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

        return self.model.getIds()

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

        return self.model.getChessboardSize()

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

        return len(self.model.getIds())

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

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

    def save(self, filepath: str, dpi: int):
        """Save calibration board picture at a given resolution."""

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

        cv.imwrite(filepath, self.model.generateImage(dimension))