/*
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copy or use the software.

                          License Agreement
               For Open Source Computer Vision Library
                       (3-clause BSD License)

Copyright (C) 2013, OpenCV Foundation, all rights reserved.
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are permitted provided that the following conditions are met:

  * Redistributions of source code must retain the above copyright notice,
    this list of conditions and the following disclaimer.

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    this list of conditions and the following disclaimer in the documentation
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  * Neither the names of the copyright holders nor the names of the contributors
    may be used to endorse or promote products derived from this software
    without specific prior written permission.

This software is provided by the copyright holders and contributors "as is" and
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*/


#include <opencv2/highgui.hpp>
#include <opencv2/aruco/charuco.hpp>
#include <iostream>
#include "aruco_samples_utility.hpp"

using namespace cv;

namespace {
const char* about = "Create a ChArUco board image";
//! [charuco_detect_board_keys]
const char* keys  =
        "{@outfile |<none> | Output image }"
        "{w        |       | Number of squares in X direction }"
        "{h        |       | Number of squares in Y direction }"
        "{sl       |       | Square side length (in pixels) }"
        "{ml       |       | Marker side length (in pixels) }"
        "{d        |       | 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}"
        "{cd       |       | Input file with custom dictionary }"
        "{m        |       | Margins size (in pixels). Default is (squareLength-markerLength) }"
        "{bb       | 1     | Number of bits in marker borders }"
        "{si       | false | show generated image }";
}
//! [charuco_detect_board_keys]


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

    if(argc < 7) {
        parser.printMessage();
        return 0;
    }

    int squaresX = parser.get<int>("w");
    int squaresY = parser.get<int>("h");
    int squareLength = parser.get<int>("sl");
    int markerLength = parser.get<int>("ml");
    int margins = squareLength - markerLength;
    if(parser.has("m")) {
        margins = parser.get<int>("m");
    }

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

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

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

    Ptr<aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(0);
    if (parser.has("d")) {
        int dictionaryId = parser.get<int>("d");
        dictionary = aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
    }
    else if (parser.has("cd")) {
        FileStorage fs(parser.get<std::string>("cd"), FileStorage::READ);
        bool readOk = dictionary->aruco::Dictionary::readDictionary(fs.root());
        if(!readOk) {
            std::cerr << "Invalid dictionary file" << std::endl;
            return 0;
        }
    }
    else {
        std::cerr << "Dictionary not specified" << std::endl;
        return 0;
    }

    Size imageSize;
    imageSize.width = squaresX * squareLength + 2 * margins;
    imageSize.height = squaresY * squareLength + 2 * margins;

    Ptr<aruco::CharucoBoard> board = aruco::CharucoBoard::create(squaresX, squaresY, (float)squareLength,
                                                            (float)markerLength, dictionary);

    // show created board
    Mat boardImage;
    board->draw(imageSize, boardImage, margins, borderBits);

    if(showImage) {
        imshow("board", boardImage);
        waitKey(0);
    }

    imwrite(out, boardImage);

    return 0;
}
