#!/usr/bin/env python

""" """

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

from dataclasses import dataclass, field

from argaze.ArUcoMarkers import ArUcoMarkersDictionary

import numpy
import cv2 as cv
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
    """Size of marker in centimeters."""

    corners: numpy.array = field(init=False, repr=False)
    """Estimated 2D corner positions 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."""

    color: tuple = field(init=False, repr=False, default_factory=lambda : (0, 255, 0))
    """Color used to draw marker on frame."""

    @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."""

        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, frame: numpy.array, K, D):
        """Draw marker in frame."""

        # Draw marker axis if pose has been estimated
        if self.translation.size == 3 and self.rotation.size == 9:

            cv.drawFrameAxes(frame, numpy.array(K), numpy.array(D), self.rotation, self.translation, self.size)

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

    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}'

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