# 相机参考工具
# @路怀帅 2025.12.19 10:32am 
# PS : 新增 加载相机畸变KD 视频对比显示功能

import cv2
import threading
import sys
from datetime import datetime
import os
import argparse
import numpy as np

# 全局变量
frame = None
running = True
which_camera = 0
W, H = 1920, 1080   # 相机分辨率

# 加载鱼眼相机参数

# Front 参数
# K = np.array([[ 5.3382445956203196e+02, 0., 9.7253025945442369e+02],
#             [0., 5.3393792084343488e+02, 5.6249605531924215e+02],
#             [ 0., 0., 1. ]])

# D = np.array([ -1.5749135021037808e-02, 2.9390620422222835e-03,
#        -4.3176357910129585e-03, 1.3296605027646462e-03 ])

# Right 参数
K = np.array([[5.3402108990030604e+02, 0., 9.2598444295282172e+02], 
              [0., 5.3455325152709827e+02, 5.7771767919091610e+02],
              [0., 0., 1.]])
D = np.array([-1.8724887233075402e-02, 6.4408558584901701e-03,
              -5.2069636709412993e-03, 8.4815411645490968e-04])
# 加载透视变换参数

# Right 参数
front_proj_matrix = np.array([
    [-4.5788125154634862e-01, -2.4847281172116515e+00, 1.1901356339453334e+03],
    [7.0190114936088524e-02, -2.2880693827869965e+00, 1.0012772462548877e+03],
    [1.4549566908718078e-04, -3.4392525895003334e-03, 1.0]
])

# 这些参数在 surround_view 中用于 set_scale_and_shift
scale_xy = np.array([6.99999988e-01, 8.00000012e-01])  # x, y 缩放比例
shift_xy = np.array([-80., -200.])  # x, y 偏移量 (像素)


def video_thread():
    global frame, running
    cap = cv2.VideoCapture(which_camera, cv2.CAP_ANY)
    cap.set(cv2.CAP_PROP_FOURCC,cv2.VideoWriter_fourcc(*"YUYV"))
    cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1920)
    cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080)

    if not cap.isOpened():
        print("[ERROR] Cannot open camera", file=sys.stderr)
        running = False
        return

    modified_camera_matrix = K.copy()
    modified_camera_matrix[0, 0] *= scale_xy[0]  # fx *= scale_x
    modified_camera_matrix[1, 1] *= scale_xy[1]  # fy *= scale_y
    modified_camera_matrix[0, 2] += shift_xy[0]  # cx += shift_x
    modified_camera_matrix[1, 2] += shift_xy[1]  # cy += shift_y
    
    # 鱼眼相机去畸变 合并缩放系数
    map1, map2 = cv2.fisheye.initUndistortRectifyMap(K, D, np.eye(3), modified_camera_matrix, (W, H), cv2.CV_16SC2)

    # 鱼眼相机仅畸变
    map3, map4 = cv2.fisheye.initUndistortRectifyMap(K, D, np.eye(3), K, (W, H), cv2.CV_16SC2)


    while running:
        ret, f = cap.read()
        if not ret:
            break

        # 图像去畸变
        undistorted = cv2.remap(f, map1, map2, interpolation=cv2.INTER_LINEAR, borderMode=cv2.BORDER_CONSTANT) 
        undistorted2 = cv2.remap(f, map3, map4, interpolation=cv2.INTER_LINEAR, borderMode=cv2.BORDER_CONSTANT) 
        
       
        proj_image = cv2.warpPerspective(
            undistorted, 
            front_proj_matrix, 
            (W, H),  # 输出大小 (与原始分辨率一致)
            borderMode=cv2.BORDER_CONSTANT,
            borderValue=(0, 0, 0)
        )


        frame = f.copy()
        birdseye_small = cv2.resize(f, (W//2, H//2))
        undistorted2_small = cv2.resize(undistorted2, (W//2, H//2))

        # 拼接原视频和抗畸变后的视频 （左右显示）
        comparison = np.hstack((birdseye_small, undistorted2_small))
        show_video = np.vstack((comparison, proj_image))
    
        scale = min(1920 / comparison.shape[1], 1080 / comparison.shape[0])
        if scale < 1:
            comparison = cv2.resize(comparison, (int(comparison.shape[1] * scale), int(comparison.shape[0] * scale)))
        comparison = comparison.astype(np.uint8) 

        # 设置视频流全屏显示
        text_info = f"Camera: {args.i.upper()}  |  Press 'q' to quit, 's' to screenshot"
        cv2.putText(comparison, text_info, (10, 30),
                    cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 0), 2, cv2.LINE_AA)

        cv2.namedWindow('Video old vs new', cv2.WND_PROP_FULLSCREEN)
        cv2.setWindowProperty('Video old vs new', cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_FULLSCREEN)
        cv2.imshow('Video old vs new', show_video)

        if cv2.waitKey(1) & 0xFF == ord('q'):
            running = False
            break

    cap.release()
    cv2.destroyAllWindows()

def input_thread():
    global running
    print("SSH命令: 's' = 截图, 'q' = 退出")
    while running:
        try:
            cmd = input().strip().lower()
            if cmd == 's':
                if frame is not None:
                    filename = f"./images/{args.i.lower()}.png"
                    cv2.imwrite(filename, frame) 
                    print(f"[SSH] Saved: {os.path.abspath(filename)}")
                else:
                    print("[SSH] No frame available yet.")
            elif cmd == 'q':
                running = False
                break
            else:
                print("[SSH] Unknown command. Use 's' or 'q'.")
        except EOFError:
            break

if __name__ == "__main__":

    # 获取用户参数启动
    parser = argparse.ArgumentParser(description="Example script with argparse")

    # 获取用户输入的摄像头方位 （front back left right）
    parser.add_argument("--i", type=str, required=True, help="摄像头方位")

    args = parser.parse_args()

    print("相机方位:", args.i)

    if args.i == "front":
        which_camera = 0
    elif args.i == "back":
        which_camera = 2
    elif args.i == "left":
        which_camera = 1
    elif args.i == "right":
        which_camera = 3
    else:
        print("[ERROR] Invalid camera direction. Use 'front', 'back', 'left', or 'right'.", file=sys.stderr)
        running = False
        exit(1)

    # 启动视频线程
    vt = threading.Thread(target=video_thread, daemon=True)
    vt.start()

    # 主线程监听 SSH 输入
    input_thread()

    print("[INFO] Exiting...")