import ch.psi.pshell.device.Camera as Camera
import ch.psi.pshell.imaging.RendererMode as RendererMode
from ch.psi.pshell.imaging.Overlays import *

"""
img.camera.setColorMode(Camera.ColorMode.Mono)
img.camera.setDataType(Camera.DataType.UInt8)
img.camera.setGrabMode(Camera.GrabMode.Continuous)
img.camera.setTriggerMode(Camera.TriggerMode.Fixed_Rate)
img.camera.setExposure(50.00)
img.camera.setAcquirePeriod(200.00)
img.camera.setGain(0.0)
img.config.rotationCrop=True


"""
#img.camera.setROI(200, 0,1200,1200)

img.camera.setROI(0, 0,1600,1200)
img.config.rotation=0
img.config.roiX,img.config.roiY, img.config.roiWidth,img.config.roiHeight =0,0,-1,-1
img.config.setCalibration(None)
img.camera.stop()
img.camera.start()

#img.camera.setROI(300, 200,1000,1000)
#img.config.rotation=17
#img.config.roiX,img.config.roiY, img.config.roiWidth,img.config.roiHeight = 50,50,900,900

p = show_panel(img)
p.setMode(RendererMode.Fit)
ov_text = Text(Pen(java.awt.Color.GREEN.darker()), "", java.awt.Font("Verdana", java.awt.Font.PLAIN, 24), java.awt.Point(20,20))
ov_text.setFixed(True)



p.addOverlay(ov_text)
try:
    ov_text.update("Click on upper reference...")
    p1 = p.waitClick(60000)
    print p1
    ov_text.update("Click on left reference...")
    p2 = p.waitClick(60000)
    print p2
    ov_text.update("Click on right reference...")
    p3 = p.waitClick(60000)
    print p3        

    x, y, z = p1.x+p1.y*1j, p2.x+p2.y*1j, p3.x+p3.y*1j
    w = z-x
    w /= y-x
    c = (x-y)*(w-abs(w)**2)/2j/w.imag-x
    cx, cy, r =  -c.real, -c.imag, abs(c+x)
    a = math.degrees(math.atan((cx-p1.x)/(p1.y-cy)))

    print cx, cy, r, a
    
    #img.camera.setROI(int((1600-cx)/2),int((1200-cy)/2),1000,1000)
    img.camera.setROI(int(cx-r),int(cy-r),int(2*r),int(2*r))
    img.config.rotation=-a
    #remove rotation border
    d=int(r/11)
    img.config.roiX,img.config.roiY, img.config.roiWidth,img.config.roiHeight =d,d, int(2*r-2*d),  int(2*r-2*d)
    #img.config.setCalibration(None)
    img.camera.stop()
    img.camera.start()  
    
finally: 
    p.removeOverlay(ov_text)