import numpy as np
import cv2
import glob
import matplotlib.pyplot as plt
import os; 
print(os.environ.get('QT_API'))
#%matplotlib qt

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

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

# Make a list of calibration images
images = glob.glob('./camera_cal/*.jpg')
#print(images)
# Step through the list and search for chessboard corners
index = 0
for fname in images:
    print(fname)
    img = cv2.imread(fname)
    gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
    #cv2.imshow('gray',gray)
    #cv2.waitKey(0)
    
    # Find the chessboard corners
    ret, corners = cv2.findChessboardCorners(gray, (9,6),None)

    # If found, add object points, image points
    if ret == True:
        objpoints.append(objp)
        imgpoints.append(corners)

        # Draw and display the corners
        cv2.drawChessboardCorners(img, (9,6), corners, ret)
        #cv2.imshow('img',img)
        #cv2.waitKey(30)
        cv2.imwrite('./camera_cal/out/'+str(index)+'.png',img)
    index+=1
#cv2.destroyAllWindows()
    