#include <opencv2/highgui.hpp>
#include <opencv2/objdetect/aruco_detector.hpp>
#include <iostream>
#include "aruco_samples_utility.hpp"

using namespace cv;

namespace {
const char* about = "Create an ArUco/AprilTag marker image";

//! [aruco_create_markers_keys]
const char* keys  =
        "{@outfile |res.png| Output image }"
        "{d        | 0     | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
        "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
        "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL=16,"
        "DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
        "{cd       |       | Input file with custom dictionary }"
        "{id       | 0     | Marker id in the dictionary }"
        "{ms       | 200   | Marker size in pixels }"
        "{bb       | 1     | Number of bits in marker borders }"
        "{si       | false | show generated image }";
}
//! [aruco_create_markers_keys]


int main(int argc, char *argv[]) {
    CommandLineParser parser(argc, argv, keys);
    parser.about(about);

    int markerId = parser.get<int>("id");
    int borderBits = parser.get<int>("bb");
    int markerSize = parser.get<int>("ms");
    bool showImage = parser.get<bool>("si");

    String out = parser.get<String>(0);

    if(!parser.check()) {
        parser.printErrors();
        return 0;
    }

    aruco::Dictionary dictionary = readDictionatyFromCommandLine(parser);

    Mat markerImg;
    aruco::generateImageMarker(dictionary, markerId, markerSize, markerImg, borderBits);

    if(showImage) {
        imshow("marker", markerImg);
        waitKey(0);
    }

    imwrite(out, markerImg);

    return 0;
}
