""" 

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 <https://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
import math

from argaze.ArUcoMarkers import ArUcoMarkersDictionary

import numpy
import cv2
import cv2.aruco as aruco

@dataclass
class ArUcoMarker():
    """Define ArUco marker class."""

    dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary
    """Dictionary to which it belongs."""

    identifier: int
    """Index into dictionary"""

    size: float = field(default=math.nan)
    """Size of marker in centimeters."""

    corners: numpy.array = field(init=False, repr=False)
    """Estimated 2D corners position in camera image referential."""

    translation: numpy.array = field(init=False, repr=False)
    """Estimated 3D center position in camera world referential."""

    rotation: numpy.array = field(init=False, repr=False)
    """Estimated 3D marker rotation in camera world referential."""

    points: numpy.array = field(init=False, repr=False)
    """Estimated 3D corners positions in camera world referential."""

    @property
    def center(self) -> numpy.array:
        """Get 2D center position in camera image referential."""

        return self.corners[0].mean(axis=0)

    def image(self, dpi) -> numpy.array:
        """Create marker matrix image at a given resolution.

        !!! warning
            Marker size have to be setup before.
        """

        assert(not math.isnan(self.size))

        dimension = round(self.size * dpi / 2.54) # 1 cm = 2.54 inches
        matrix = numpy.zeros((dimension, dimension, 1), dtype="uint8")

        aruco.generateImageMarker(self.dictionary.markers, self.identifier, dimension, matrix, 1)

        return numpy.repeat(matrix, 3).reshape(dimension, dimension, 3)

    def draw(self, image: numpy.array, K: numpy.array, D: numpy.array, color: tuple = None, draw_axes: dict = None):
        """Draw marker in image.

        Parameters:
            image: image where to
            K:
            D:
            color: marker color (if None, no marker drawn)
            draw_axes: enable marker axes drawing

        !!! warning
            draw_axes needs marker size and pose estimation.
        """

        # Draw marker if required
        if color is not None:

            aruco.drawDetectedMarkers(image, [numpy.array([list(self.corners)])], numpy.array([self.identifier]), color)

        # Draw marker axes if pose has been estimated, marker have a size and if required
        if self.translation.size == 3 and self.rotation.size == 9 and not math.isnan(self.size) and draw_axes is not None:

            cv2.drawFrameAxes(image, numpy.array(K), numpy.array(D), self.rotation, self.translation, self.size, **draw_axes)

    def save(self, destination_folder, dpi):
        """Save marker image as .png file into a destination folder."""

        filename = f'{self.dictionary.name}_{self.dictionary.format}_{self.identifier}.png'
        filepath = f'{destination_folder}/{filename}'

        cv2.imwrite(filepath, self.image(dpi))