#Math begin
def get_dist(a, b):
    return sqrt((a["x"] - b["x"]) * (a["x"] - b["x"]) + (a["y"] - b["y"]) * (a["y"] - b["y"]))

def get_good_angle(a, b):
    A = {"x": b["x"] - a["x"], "y": b["y"] - a["y"]}
    B = {"x": 1, "y": 0}
    C = {"x": 0, "y": 0}
    tmp = (A["x"] * B["x"] + A["y"]*B["y"]) / get_dist(A, C)
    if tmp < -1:
        tmp = -1
    if tmp > 1:
        tmp = 1
    angle = acos(tmp)
    if A["y"] < 0:
        angle = -1 * angle
    return angle
#Math end

#Coordinates transformation begin
def is_good(x, y):
    return x > l and y > l and x + l < SIZE and y + l < SIZE

def get_good(x, y):
    x = x * 4032 // 800 + 984
    y = y * 3024 // 600 + 1488
    return x, y
#Coordinates transformation end

def solve_dataset(old_im, obj):

    UPLOAD_FOLDER_DATASET = '/tmp/kek/'
    ZIP_DATASET = '/tmp/photoset.zip'
    IMAGE_URL_DATASET = '/tmp/lol.jpg'
    SIZE = 6000

	#Creating temporary folder for images
	if not os.path.exists(UPLOAD_FOLDER_DATASET):
        os.makedirs(UPLOAD_FOLDER_DATASET)

	#Calculating drone parameters
	angle_x = obj["angle_x"]
    angle_y = obj["angle_y"]
    h = obj["h"]
    points = obj["points"]
    overlapping = obj["overlapping"]
    lx = 2 * h * tan(angle_x / 360 * 3.1415926)
    ly = 2 * h * tan(angle_y / 360 * 3.1415926)
    res = []
    base = {"lat": 50.015781, "lng": 36.222751} #Ivriy's house
    phi = base["lat"] / 180 * 3.1415926
    dpx = 111.321*cos(phi)
    dpy = 111.143

	#Delete the previous version of archive(if exists)
    a = 0
    try:
        zipfile.ZipFile(ZIP_DATASET, 'w')
    except:
        a = 1
    try:
        os.remove(ZIP_DATASET)
    except:
        a = 2
    old_size = old_im.size

    #Creating map image
    new_size = (6000, 6000)
    new_im = Image.new("RGB", new_size)
    new_im.paste(old_im, ((new_size[0]-old_size[0])//2,
                      (new_size[1]-old_size[1])//2))


	cur = 0
    for point in points:
        point["x"], point["y"] = get_good(point["x"], point["y"])
    cur = points[0].copy()
    cur_i = 0
    nd = 0
    photo_id = 0
    images = []
    while cur_i + 1 < len(points):
        if get_dist(points[cur_i + 1], cur) < nd:
            nd = 0
            cur["x"] = points[cur_i+1]["x"]
            cur["y"] = points[cur_i+1]["y"]
            angle = get_good_angle(points[cur_i], points[cur_i + 1])

            rotate_angle = (90 + int(angle / 3.1415926 * 180)  + 360) % 360
            phi = -rotate_angle / 180 * 3.1415926
            cur["x"] -= 3000
            cur["y"] -= 3000

            x = int(cur["x"] * cos(phi) - cur["y"] * sin(phi))
            y = int(cur["x"] * sin(phi) + cur["y"] * cos(phi))
            x += 3000
            y += 3000
            cur["x"] += 3000
            cur["y"] += 3000

            #img = Image.open(IMAGE_URL_DATASET)
            img = new_im.copy()
            tmp = str(photo_id)
            while len(tmp) < 4:
                tmp = '0' + tmp
            img.rotate(rotate_angle).crop((x - lx//2, y - lx//2, x + ly//2, y + ly//2)).save(UPLOAD_FOLDER_DATASET + 'result_' + tmp + '.jpg')
            photo_id += 1
            res.append({"alt_rel": h, "yaw": 90+angle / 3.1415926 * 180, "pitch": 0, "roll": 0, "lng": cur["x"] / 1000 / dpx + base["lng"], "lat": base["lat"] - cur["y"] / 1000 / dpy})
            res[-1]["lat"] *= 1e7
            res[-1]["lng"] *= 1e7
            res[-1]["lat"] = int(res[-1]["lat"])
            res[-1]["lng"] = int(res[-1]["lng"])

            cur_i = cur_i + 1
            if cur_i + 1 == len(points):
                break

        else:
            angle = get_good_angle(points[cur_i], points[cur_i + 1])
            cur["x"] += nd * cos(angle)
            cur["y"] += nd * sin(angle)
            rotate_angle = (90 + int(angle / 3.1415926 * 180)  + 360) % 360
            phi = -rotate_angle / 180 * 3.1415926

            cur["x"] -= 3000
            cur["y"] -= 3000
            x = int(cur["x"] * cos(phi) - cur["y"] * sin(phi))
            y = int(cur["x"] * sin(phi) + cur["y"] * cos(phi))
            x += 3000
            y += 3000
            cur["x"] += 3000
            cur["y"] += 3000

            img = new_im.copy()
            res.append({"alt_rel": h, "yaw": 90+angle / 3.1415926 * 180, "pitch": 0, "roll": 0, "lng": cur["x"] / 1000 / dpx + base["lng"], "lat": base["lat"] - cur["y"] / 1000 / dpy})
            res[-1]["lat"] *= 1e7
            res[-1]["lng"] *= 1e7
            res[-1]["lat"] = int(res[-1]["lat"])
            res[-1]["lng"] = int(res[-1]["lng"])
            tmp = str(photo_id)
            while len(tmp) < 4:
                tmp = '0' + tmp
            img.rotate(rotate_angle).crop((x - lx//2, y - lx//2, x + ly//2, y + ly//2)).save(UPLOAD_FOLDER_DATASET + 'result_' + tmp + '.jpg')
            photo_id += 1
            nd = lx * (1 - overlapping)
    #images[0].show()
    for i in range(0, len(res)):
        new_pos = {"meta": {"type": "CAMERA_FEEDBACK"}, "data": res[i].copy()}
        res[i] = new_pos.copy()
    with open(UPLOAD_FOLDER_DATASET + 'logs.json', 'w') as outfile:
        for i in range(0, len(res)):
            print(json.dumps(res[i]), file=outfile)
    with ZipFile(ZIP_DATASET, 'a') as zipObj:
        for folderName, subfolders, filenames in os.walk(top, topdown=False):
            for filename in filenames:
                filePath = os.path.join(folderName, filename)
                zipObj.write(filePath, '/' + filename)
    top = UPLOAD_FOLDER_DATASET
    for root, dirs, files in os.walk(top, topdown=False):
        for name in files:
            os.remove(os.path.join(top, name))
        for name in dirs:
            os.rmdir(os.path.join(top, name))
    res = ZipFile(ZIP_DATASET, 'a').copy()
    return res