#!/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_name: str, columns: int, rows: int, square_size: float, marker_size: float):
        """Create columnsxrows chess board with ArUco markers type at given sizes in centimeters."""

        # load ArUco markers dictionary
        self.__aruco_dict = ArUcoMarkersDictionary.ArUcoMarkersDictionary(aruco_dictionary_name)

        # store property
        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.get_markers())

    def __del__(self):
        pass

    def get_model(self):
        """Get the board model."""
        return self.__board

    def get_ids(self):
        """Get board markers ids."""
        return self.__board.ids

    def get_size(self):
        """Get numbers of columns and rows."""
        return self.__board.getChessboardSize()

    def get_markers_number(self):
        """Get number of markers."""
        return len(self.__board.ids)

    def get_corners_number(self):
        """Get number of corners."""
        return (self.__board.getChessboardSize()[0] - 1 ) * (self.__board.getChessboardSize()[1] - 1)

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

        output_filename = f'board_{self.__columns*self.__square_size}cmx{self.__rows*self.__square_size}cm_markers_{self.__aruco_dict.get_markers_format()}_{self.__marker_size}cm.png'

        dimension = [int(e * self.__board.getSquareLength() * 254 * dpi) for e in self.__board.getChessboardSize()]  # 1 meter = 254 inches

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