import numpy as np
import numpy.typing as npt
from matplotlib import pyplot as plt
import cv2
import uz_framework.image as uz_image
import uz_framework.text as uz_text
import os

##############################################
# EXCERCISE 1: Exercise 1: Image derivatives #
##############################################

def ex1():
	one_b()

def one_a() -> None:
	"""
	d = (f * px)/pz + f(T - px)/pz => d = (f * T) / pz
	"""

def one_b() -> None:
	"""
	Write a script that computes the disparity for a range of values of pz. Plot the values
	to a figure and set the appropriate units to axes. Use the following parameters of
	the system: focal length is f = 2.5mm and stereo system baseline is T = 12cm
	"""

	pz_values = np.arange(0.001, 0.1, 0.001)
	f = 0.0025 
	T = 0.12

	d = (f * T) / pz_values

	plt.plot(pz_values, d)

	plt.xlabel('pz [m]')
	plt.ylabel('d [m]')
	plt.title('Disparity for a range of values of pz')
	plt.show()

def one_c() -> None:
	"""
	In order to get a better grasp on the idea of distance and disparity, you will calculate
	the numbers for a specific case. We will take the parameters from a specification of
	a commercial stereo camera Bumblebee2 manufactured by the company PointGray:
	f = 2.5mm, T = 12cm, whose image sensor has a resolution of 648×488 pixels that
	are square and the width of a pixel is 7.4µm. We assume that there is no empty
	space between pixels and that both cameras are completely parallel and equal. Lets
	say that we use this system to observe a (point) object that is detected at pixel 550
	in x axis in the left camera and at the pixel 300 in the right camera. How far is the
	object (in meters) in this case? How far is the object if the object is detected at
	pixel 540 in the right camera? Solve this task analytically and bring your solution
	to the presentation of the exercise.
	"""


# ######## #
# SOLUTION #
# ######## #

def main():
	ex1() 
	#ex2()
	#ex3()

if __name__ == '__main__':
	main()