# https://opencv-python-tutroals.readthedocs.io/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html

import glob
import pickle

import cv2
import numpy as np

# termination criteria
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)

# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)
objp = np.zeros((9*7, 3), np.float32)
objp[:, :2] = np.mgrid[0:7, 0:9].T.reshape(-1, 2)

# Arrays to store object points and image points from all the images.
objpoints = []  # 3d point in real world space
imgpoints = []  # 2d points in image plane.

images = glob.glob('../chessboard/*.jpg')

for fname in images:
    img = cv2.imread(fname)
    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)

    # Find the chess board corners
    ret, corners = cv2.findChessboardCorners(gray, (7, 9), None)

    # If found, add object points, image points (after refining them)
    if ret == True:
        objpoints.append(objp)

        corners2 = cv2.cornerSubPix(
            gray, corners, (11, 11), (-1, -1), criteria)
        imgpoints.append(corners2)

        # Draw and display the corners
        img = cv2.drawChessboardCorners(img, (7, 9), corners2, ret)
        cv2.imshow('img', img)
        cv2.waitKey(500)

ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(
    objpoints, imgpoints, gray.shape[::-1], None, None)

# print(ret)
# print(mtx)
# print(dist)
# print(rvecs)
# print(tvecs)

cv2.destroyAllWindows()


save_dict = {
    'ret': ret,
    'mtx': mtx,
    'dist': dist,
    'rvecs': rvecs,
    'tvecs': tvecs
}

pickle_out = open("config.pickle", "wb")
pickle.dump(save_dict, pickle_out)
