import sys
import numpy as np
import cv2 as cv
import argparse
from aruco_types import ARUCO_DICT

def factory(dict_type: int, square_length: float=200.0, marker_length: float=120.0, margin_length=10):
	aruco_dict = cv.aruco.getPredefinedDictionary(dict_type)
	board = cv.aruco.CharucoBoard((3,3), square_length, marker_length, aruco_dict)
	params = cv.aruco.CharucoParameters()
	detector = cv.aruco.CharucoDetector(board, params)
	side_len = int(3.0*square_length + 2.0*margin_length)
	image = board.generateImage((side_len, side_len), None, margin_length, 1)
	cv.imwrite("results/charuco_diamond_board.png", image)

	return detector, board

def main():
	# construct the argument parser and parse the arguments
	ap = argparse.ArgumentParser()
	ap.add_argument("-t", "--type", type=str,
		default="DICT_ARUCO_ORIGINAL",
		help="type of ArUCo tag to detect")
	args = vars(ap.parse_args())

	# verify that the supplied ArUCo tag exists and is supported by
	# OpenCV
	if ARUCO_DICT.get(args["type"], None) is None:
		print("[INFO] ArUCo tag of '{}' is not supported".format(
			args["type"]))
		sys.exit(0)
	# load the ArUCo dictionary, grab the ArUCo parameters, and detect
	# the markers
	print("[INFO] detecting '{}' tags...".format(args["type"]))
	detector, board = factory(ARUCO_DICT[args["type"]])

	# load the input image from disk and resize it
	print("[INFO] start processing...")
	process_video(detector, board)

def process_video(detector: cv.aruco.CharucoDetector, board):
	with np.load('results/cam.npz') as X:
		mtx, dist, _, _ = [X[i] for i in ('mtx', 'dist', 'rvecs', 'tvecs')]

	# Open camera
	video = cv.VideoCapture(0)
	if not video.isOpened():
		print("Cannot open camera")
		exit()

	while True:
		# Read a new frame
		ok, img = video.read()
		if not ok:
			return
		process(detector, board, img, mtx, dist)
		k = cv.waitKey(1) & 0xFF
		if k == ord('q'):
			break

def process(detector: cv.aruco.CharucoDetector, board: cv.aruco.Board, img, mtx, dist):	# Load previously saved data
	gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
	diamond_corners, diamond_ids, marker_corners, marker_ids = detector.detectDiamonds(gray)
	if diamond_corners is not None:
		# Draw a square around the markers
		cv.aruco.drawDetectedCornersCharuco(img, diamond_corners, diamond_ids)

		# Draw a square around the markers
		cv.aruco.drawDetectedMarkers(img, marker_corners)

		if len(diamond_ids) >= len(board.getIds()):
			# Draw a square around the markers
			cv.aruco.drawDetectedDiamonds(img, diamond_corners, diamond_ids)
			if False and diamond_ids is not None and len(diamond_ids) > 0:
				obj_points, img_points = board.matchImagePoints(diamond_corners, diamond_ids)
				pose, rvec, tvec = cv.solvePnP(obj_points, img_points, mtx, dist, None, None)
				if pose:
					# Draw Axis
					cv.drawFrameAxes(img, mtx, dist, rvec, tvec, 10)

	cv.imshow('img', img)


if __name__ == '__main__':
	main()
	cv.destroyAllWindows()