#!/usr/bin/env python3

import os
import re
import subprocess

indir="apriltag-imgs/tag16h5"
outdir="tag16h5"

images = []
for (dirpath, dirnames, filenames) in os.walk(indir):
    for f in filenames:
        m = re.match(r'.*_(\d{5})\.png$', f)
        if m:
            images.append((os.path.join(dirpath, f), f, int(m.group(1))))

density = 300
for p, f, i in sorted(images, key=lambda t: t[2]):
    print(p, f, i)
    annotation = f'AprilTag family = {outdir}, size = 6 in, id = {str(i)}'
    outpath = os.path.join(outdir, os.path.splitext(f)[0] + '.pdf')
    cmd = [
        'convert', p,
        '-density', str(density),
        '-scale', str(density*100) + '%',
        '-bordercolor', 'black', '-border', '1',
        '-gravity', 'center', '-extent', str(density*8.5) + 'x' + str(density*11),
        '-gravity', 'south', '-annotate', '+0+' + str(density*0.25), annotation,
        outpath
    ]
    print(cmd)
    subprocess.call(cmd)

# post process with 
# pdftk tag16h5/*.pdf cat output tag16h5.pdf