#!/usr/bin/env python3
"""
Step 2 — Calibration from per-image JSON feature files.

  2a. Mono intrinsics per camera folder
  2b. Stereo calibration: left camera vs each available partner (rc, rg, ir)
      with time-window pairing (default 0.1 s)
"""

import sys
from pathlib import Path

sys.path.insert(0, str(Path.home() / "Speckle-Scanner"))
sys.path.insert(0, str(Path(__file__).resolve().parent))

import argparse

from calibrationclasses.calibration_engine import (
    run_mono_calibration,
    run_stereo_calibration,
)
from calibrationclasses.cli_common import (
    add_board_args,
    add_session_args,
    add_troubleshooting_arg,
    build_board_config,
    resolve_input_path,
)
from calibrationclasses.session import STEREO_PARTNERS


def main():
    parser = argparse.ArgumentParser(
        description="Calibration step 2: mono + stereo calibration from JSON"
    )
    add_session_args(parser)
    add_board_args(parser)
    parser.add_argument(
        "--step",
        choices=("mono", "stereo", "all"),
        default="all",
        help="Run mono intrinsics, stereo pairs, or both (default: all)",
    )
    parser.add_argument(
        "--left_camera",
        default="lc",
        choices=("lc", "lc-ir", "lc_ir"),
        help="Left camera for stereo calibration (default: lc)",
    )
    parser.add_argument(
        "--time_window",
        type=float,
        default=0.1,
        help="Max |t_left - t_right| in seconds for stereo pairing (default: 0.1)",
    )
    parser.add_argument(
        "--partners",
        type=str,
        default="rc,rg,ir",
        help="Comma-separated right cameras for stereo (default: rc,rg,ir)",
    )
    add_troubleshooting_arg(parser)
    args = parser.parse_args()

    left_camera = args.left_camera.lower().replace("_", "-")
    partners = tuple(p.strip() for p in args.partners.split(",") if p.strip())
    board_sizes, square_sizes = build_board_config(args)
    input_path = resolve_input_path(args)

    print(f"[calibrate] session: {input_path}")

    mono_results = {}
    if args.step in ("mono", "all"):
        print("\n=== Step 2a: Mono intrinsics ===")
        mono_results = run_mono_calibration(
            input_path,
            board_sizes,
            square_sizes,
            troubleshooting=args.troubleshooting,
        )

    if args.step in ("stereo", "all"):
        print("\n=== Step 2b: Stereo calibration ===")
        if not mono_results and args.step == "stereo":
            mono_results = run_mono_calibration(
                input_path,
                board_sizes,
                square_sizes,
                troubleshooting=args.troubleshooting,
            )
        run_stereo_calibration(
            input_path,
            left_camera=left_camera,
            mono_results=mono_results,
            board_sizes=board_sizes,
            square_sizes=square_sizes,
            time_window_sec=args.time_window,
            partners=partners or STEREO_PARTNERS,
            troubleshooting=args.troubleshooting,
        )

    print("[calibrate] done")


if __name__ == "__main__":
    main()