import sys

import cv2
from cv2 import aruco

# Define the ArUco dictionary
aruco_dict = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_6X6_250)
aruco_params = cv2.aruco.DetectorParameters()

# Specify the RTSP URL
rtsp_url = sys.argv[1]

# Capture the video stream from the RTSP URL
cap = cv2.VideoCapture(rtsp_url)

while True:
    ret, frame = cap.read()

    # Check if frame is not empty
    if frame is None:
        print("Empty frame, exiting...")
        break

    # Detect ArUco markers
    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
    corners, ids, rejectedImgPoints = aruco.detectMarkers(
        gray, aruco_dict, parameters=aruco_params
    )

    # If some markers are found, draw them on the frame
    if ids is not None:
        frame = cv2.aruco.drawDetectedMarkers(frame, corners, ids)

    # Scale frame in half
    frame = cv2.resize(frame, (0, 0), fx=0.5, fy=0.5)

    # Display the frame
    cv2.imshow("Frame", frame)

    # Wait for the 'q' key to exit the loop
    if cv2.waitKey(1) & 0xFF == ord("q"):
        break

# Release the capture object and close all OpenCV windows
cap.release()
cv2.destroyAllWindows()