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aruco: port samples to cv::CommandLineParser

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results in less code and more consistent parameter handling.
pull/445/head
Pavel Rojtberg 9 years ago
parent 5e008c8758
commit 6b90a405df
10 changed files with 446 additions and 674 deletions
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  1. 130
      modules/aruco/samples/calibrate_camera.cpp
  2. 134
      modules/aruco/samples/calibrate_camera_charuco.cpp
  3. 105
      modules/aruco/samples/create_board.cpp
  4. 102
      modules/aruco/samples/create_board_charuco.cpp
  5. 96
      modules/aruco/samples/create_diamond.cpp
  6. 86
      modules/aruco/samples/create_marker.cpp
  7. 113
      modules/aruco/samples/detect_board.cpp
  8. 114
      modules/aruco/samples/detect_board_charuco.cpp
  9. 126
      modules/aruco/samples/detect_diamonds.cpp
  10. 114
      modules/aruco/samples/detect_markers.cpp

130
modules/aruco/samples/calibrate_camera.cpp
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@ -49,59 +49,31 @@ using namespace std;
using namespace cv;
/**
*/
static void help() {
cout << "Calibration using a ArUco Planar Grid board" << endl;
cout << "How to Use:" << endl;
cout << "To capture a frame for calibration, press 'c'," << endl;
cout << "If input comes from video, press any key for next frame" << endl;
cout << "To finish capturing, press 'ESC' key and calibration starts." << endl;
cout << "Parameters: " << endl;
cout << "-w <nmarkers> # Number of markers in X direction" << endl;
cout << "-h <nmarkers> # Number of markers in Y direction" << endl;
cout << "-l <markerLength> # Marker side lenght (in meters)" << endl;
cout << "-s <markerSeparation> # Separation between two consecutive"
<< "markers in the grid (in meters)" << endl;
cout << "-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" << endl;
cout << "-o <outputFile> # Output file with calibrated camera parameters" << endl;
cout << "[-v <videoFile>] # Input from video file, if ommited, input comes from camera" << endl;
cout << "[-ci <int>] # Camera id if input doesnt come from video (-v). Default is 0" << endl;
cout << "[-dp <detectorParams>] # File of marker detector parameters" << endl;
cout << "[-rs] # Apply refind strategy" << endl;
cout << "[-zt] # Assume zero tangential distortion" << endl;
cout << "[-a <aspectRatio>] # Fix aspect ratio (fx/fy)" << endl;
cout << "[-p] # Fix the principal point at the center" << endl;
namespace {
const char* about =
"Calibration using a ArUco Planar Grid board\n"
" To capture a frame for calibration, press 'c',\n"
" If input comes from video, press any key for next frame\n"
" To finish capturing, press 'ESC' key and calibration starts.\n";
const char* keys =
"{w | | Number of squares in X direction }"
"{h | | Number of squares in Y direction }"
"{l | | Marker side lenght (in meters) }"
"{s | | Separation between two consecutive markers in the grid (in meters) }"
"{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}"
"{@outfile |<none> | Output file with calibrated camera parameters }"
"{v | | Input from video file, if ommited, input comes from camera }"
"{ci | 0 | Camera id if input doesnt come from video (-v) }"
"{dp | | File of marker detector parameters }"
"{rs | false | Apply refind strategy }"
"{zt | false | Assume zero tangential distortion }"
"{a | | Fix aspect ratio (fx/fy) to this value }"
"{pc | false | Fix the principal point at the center }";
}
/**
*/
static bool isParam(string param, int argc, char **argv) {
for(int i = 0; i < argc; i++)
if(string(argv[i]) == param) return true;
return false;
}
/**
*/
static string getParam(string param, int argc, char **argv, string defvalue = "") {
int idx = -1;
for(int i = 0; i < argc && idx == -1; i++)
if(string(argv[i]) == param) idx = i;
if(idx == -1 || (idx + 1) >= argc)
return defvalue;
else
return argv[idx + 1];
}
/**
*/
static bool readDetectorParameters(string filename, aruco::DetectorParameters &params) {
@ -177,55 +149,65 @@ static bool saveCameraParams(const string &filename, Size imageSize, float aspec
/**
*/
int main(int argc, char *argv[]) {
CommandLineParser parser(argc, argv, keys);
parser.about(about);
if(!isParam("-w", argc, argv) || !isParam("-h", argc, argv) || !isParam("-l", argc, argv) ||
!isParam("-s", argc, argv) || !isParam("-d", argc, argv) || !isParam("-o", argc, argv)) {
help();
if(argc < 6) {
parser.printMessage();
return 0;
}
int markersX = atoi(getParam("-w", argc, argv).c_str());
int markersY = atoi(getParam("-h", argc, argv).c_str());
float markerLength = (float)atof(getParam("-l", argc, argv).c_str());
float markerSeparation = (float)atof(getParam("-s", argc, argv).c_str());
int dictionaryId = atoi(getParam("-d", argc, argv).c_str());
aruco::Dictionary dictionary =
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
string outputFile = getParam("-o", argc, argv);
int markersX = parser.get<int>("w");
int markersY = parser.get<int>("w");
float markerLength = parser.get<float>("l");
float markerSeparation = parser.get<float>("s");
int dictionaryId = parser.get<int>("d");
string outputFile = parser.get<String>(0);
int calibrationFlags = 0;
float aspectRatio = 1;
if(isParam("-a", argc, argv)) {
if(parser.has("a")) {
calibrationFlags |= CALIB_FIX_ASPECT_RATIO;
aspectRatio = (float)atof(getParam("-a", argc, argv).c_str());
aspectRatio = parser.get<float>("a");
}
if(isParam("-zt", argc, argv)) calibrationFlags |= CALIB_ZERO_TANGENT_DIST;
if(isParam("-p", argc, argv)) calibrationFlags |= CALIB_FIX_PRINCIPAL_POINT;
if(parser.get<bool>("zt")) calibrationFlags |= CALIB_ZERO_TANGENT_DIST;
if(parser.get<bool>("pc")) calibrationFlags |= CALIB_FIX_PRINCIPAL_POINT;
aruco::DetectorParameters detectorParams;
if(isParam("-dp", argc, argv)) {
bool readOk = readDetectorParameters(getParam("-dp", argc, argv), detectorParams);
if(parser.has("dp")) {
bool readOk = readDetectorParameters(parser.get<string>("dp"), detectorParams);
if(!readOk) {
cerr << "Invalid detector parameters file" << endl;
return 0;
}
}
bool refindStrategy = false;
if(isParam("-rs", argc, argv)) refindStrategy = true;
bool refindStrategy = parser.get<bool>("rs");
int camId = parser.get<int>("ci");
String video;
if(parser.has("v")) {
video = parser.get<String>("v");
}
if(!parser.check()) {
parser.printErrors();
return 0;
}
VideoCapture inputVideo;
int waitTime;
if(isParam("-v", argc, argv)) {
inputVideo.open(getParam("-v", argc, argv));
if(!video.empty()) {
inputVideo.open(video);
waitTime = 0;
} else {
int camId = 0;
if(isParam("-ci", argc, argv)) camId = atoi(getParam("-ci", argc, argv).c_str());
inputVideo.open(camId);
waitTime = 10;
}
aruco::Dictionary dictionary =
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
// create board object
aruco::GridBoard board =
aruco::GridBoard::create(markersX, markersY, markerLength, markerSeparation, dictionary);

134
modules/aruco/samples/calibrate_camera_charuco.cpp
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@ -48,60 +48,32 @@ the use of this software, even if advised of the possibility of such damage.
using namespace std;
using namespace cv;
/**
*/
static void help() {
cout << "Calibration using a ChArUco board" << endl;
cout << "How to Use:" << endl;
cout << "To capture a frame for calibration, press 'c'," << endl;
cout << "If input comes from video, press any key for next frame" << endl;
cout << "To finish capturing, press 'ESC' key and calibration starts." << endl;
cout << "Parameters: " << endl;
cout << "-w <nmarkers> # Number of markers in X direction" << endl;
cout << "-h <nsquares> # Number of squares in Y direction" << endl;
cout << "-sl <squareLength> # Square side lenght (in meters)" << endl;
cout << "-ml <markerLength> # Marker side lenght (in meters)" << endl;
cout << "-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" << endl;
cout << "-o <outputFile> # Output file with calibrated camera parameters" << endl;
cout << "[-v <videoFile>] # Input from video file, if ommited, input comes from camera" << endl;
cout << "[-ci <int>] # Camera id if input doesnt come from video (-v). Default is 0" << endl;
cout << "[-dp <detectorParams>] # File of marker detector parameters" << endl;
cout << "[-rs] # Apply refind strategy" << endl;
cout << "[-zt] # Assume zero tangential distortion" << endl;
cout << "[-a <aspectRatio>] # Fix aspect ratio (fx/fy)" << endl;
cout << "[-p] # Fix the principal point at the center" << endl;
cout << "[-sc] # Show detected chessboard corners after calibration" << endl;
}
/**
*/
static bool isParam(string param, int argc, char **argv) {
for(int i = 0; i < argc; i++)
if(string(argv[i]) == param) return true;
return false;
}
/**
*/
static string getParam(string param, int argc, char **argv, string defvalue = "") {
int idx = -1;
for(int i = 0; i < argc && idx == -1; i++)
if(string(argv[i]) == param) idx = i;
if(idx == -1 || (idx + 1) >= argc)
return defvalue;
else
return argv[idx + 1];
namespace {
const char* about =
"Calibration using a ChArUco board\n"
" To capture a frame for calibration, press 'c',\n"
" If input comes from video, press any key for next frame\n"
" To finish capturing, press 'ESC' key and calibration starts.\n";
const char* keys =
"{w | | Number of squares in X direction }"
"{h | | Number of squares in Y direction }"
"{sl | | Square side lenght (in pixels) }"
"{ml | | Marker side lenght (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}"
"{@outfile |<none> | Output file with calibrated camera parameters }"
"{v | | Input from video file, if ommited, input comes from camera }"
"{ci | 0 | Camera id if input doesnt come from video (-v) }"
"{dp | | File of marker detector parameters }"
"{rs | false | Apply refind strategy }"
"{zt | false | Assume zero tangential distortion }"
"{a | | Fix aspect ratio (fx/fy) to this value }"
"{pc | false | Fix the principal point at the center }"
"{sc | false | Show detected chessboard corners after calibration }";
}
/**
*/
static bool readDetectorParameters(string filename, aruco::DetectorParameters &params) {
@ -177,57 +149,67 @@ static bool saveCameraParams(const string &filename, Size imageSize, float aspec
/**
*/
int main(int argc, char *argv[]) {
CommandLineParser parser(argc, argv, keys);
parser.about(about);
if(!isParam("-w", argc, argv) || !isParam("-h", argc, argv) || !isParam("-sl", argc, argv) ||
!isParam("-ml", argc, argv) || !isParam("-d", argc, argv) || !isParam("-o", argc, argv)) {
help();
if(argc < 7) {
parser.printMessage();
return 0;
}
int squaresX = atoi(getParam("-w", argc, argv).c_str());
int squaresY = atoi(getParam("-h", argc, argv).c_str());
float squareLength = (float)atof(getParam("-sl", argc, argv).c_str());
float markerLength = (float)atof(getParam("-ml", argc, argv).c_str());
int dictionaryId = atoi(getParam("-d", argc, argv).c_str());
aruco::Dictionary dictionary =
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
string outputFile = getParam("-o", argc, argv);
int squaresX = parser.get<int>("w");
int squaresY = parser.get<int>("h");
float squareLength = parser.get<float>("sl");
float markerLength = parser.get<float>("ml");
int dictionaryId = parser.get<int>("d");
string outputFile = parser.get<string>(0);
bool showChessboardCorners = isParam("-sc", argc, argv);
bool showChessboardCorners = parser.get<bool>("sc");
int calibrationFlags = 0;
float aspectRatio = 1;
if(isParam("-a", argc, argv)) {
if(parser.has("a")) {
calibrationFlags |= CALIB_FIX_ASPECT_RATIO;
aspectRatio = (float)atof(getParam("-a", argc, argv).c_str());
aspectRatio = parser.get<float>("a");
}
if(isParam("-zt", argc, argv)) calibrationFlags |= CALIB_ZERO_TANGENT_DIST;
if(isParam("-p", argc, argv)) calibrationFlags |= CALIB_FIX_PRINCIPAL_POINT;
if(parser.get<bool>("zt")) calibrationFlags |= CALIB_ZERO_TANGENT_DIST;
if(parser.get<bool>("pc")) calibrationFlags |= CALIB_FIX_PRINCIPAL_POINT;
aruco::DetectorParameters detectorParams;
if(isParam("-dp", argc, argv)) {
bool readOk = readDetectorParameters(getParam("-dp", argc, argv), detectorParams);
if(parser.has("dp")) {
bool readOk = readDetectorParameters(parser.get<string>("dp"), detectorParams);
if(!readOk) {
cerr << "Invalid detector parameters file" << endl;
return 0;
}
}
bool refindStrategy = false;
if(isParam("-rs", argc, argv)) refindStrategy = true;
bool refindStrategy = parser.get<bool>("rs");
int camId = parser.get<int>("ci");
String video;
if(parser.has("v")) {
video = parser.get<String>("v");
}
if(!parser.check()) {
parser.printErrors();
return 0;
}
VideoCapture inputVideo;
int waitTime;
if(isParam("-v", argc, argv)) {
inputVideo.open(getParam("-v", argc, argv));
if(!video.empty()) {
inputVideo.open(video);
waitTime = 0;
} else {
int camId = 0;
if(isParam("-ci", argc, argv)) camId = atoi(getParam("-ci", argc, argv).c_str());
inputVideo.open(camId);
waitTime = 10;
}
aruco::Dictionary dictionary =
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
// create charuco board object
aruco::CharucoBoard board =
aruco::CharucoBoard::create(squaresX, squaresY, squareLength, markerLength, dictionary);

105
modules/aruco/samples/create_board.cpp
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@ -39,92 +39,63 @@ the use of this software, even if advised of the possibility of such damage.
#include <opencv2/highgui.hpp>
#include <opencv2/aruco.hpp>
#include <iostream>
using namespace std;
using namespace cv;
/**
*/
static void help() {
cout << "Create an ArUco grid board image" << endl;
cout << "Parameters: " << endl;
cout << "-o <image> # Output image" << endl;
cout << "-w <nmarkers> # Number of markers in X direction" << endl;
cout << "-h <nmarkers> # Number of markers in Y direction" << endl;
cout << "-l <markerLength> # Marker side lenght (in pixels)" << endl;
cout << "-s <markerSeparation> # Separation between two consecutive"
<< "markers in the grid (in pixels)" << endl;
cout << "-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" << endl;
cout << "[-m <marginSize>] # Margins size (in pixels)"
<< "Default is marker separation" << endl;
cout << "[-bb <int>] # Number of bits in marker borders. Default is 1" << endl;
cout << "[-si] # show generated image" << endl;
namespace {
const char* about = "Create an ArUco grid board image";
const char* keys =
"{@outfile |<none> | Output image }"
"{w | | Number of markers in X direction }"
"{h | | Number of markers in Y direction }"
"{l | | Marker side lenght (in pixels) }"
"{s | | Separation between two consecutive markers in the grid (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}"
"{m | | Margins size (in pixels). Default is marker separation (-s) }"
"{bb | 1 | Number of bits in marker borders }"
"{si | false | show generated image }";
}
/**
*/
static bool isParam(string param, int argc, char **argv) {
for(int i = 0; i < argc; i++)
if(string(argv[i]) == param) return true;
return false;
}
/**
*/
static string getParam(string param, int argc, char **argv, string defvalue = "") {
int idx = -1;
for(int i = 0; i < argc && idx == -1; i++)
if(string(argv[i]) == param) idx = i;
if(idx == -1 || (idx + 1) >= argc)
return defvalue;
else
return argv[idx + 1];
}
/**
*/
int main(int argc, char *argv[]) {
CommandLineParser parser(argc, argv, keys);
parser.about(about);
if(!isParam("-w", argc, argv) || !isParam("-h", argc, argv) || !isParam("-l", argc, argv) ||
!isParam("-s", argc, argv) || !isParam("-d", argc, argv) || !isParam("-o", argc, argv)) {
help();
if(argc < 7) {
parser.printMessage();
return 0;
}
int markersX = atoi(getParam("-w", argc, argv).c_str());
int markersY = atoi(getParam("-h", argc, argv).c_str());
int markerLength = atoi(getParam("-l", argc, argv).c_str());
int markerSeparation = atoi(getParam("-s", argc, argv).c_str());
int dictionaryId = atoi(getParam("-d", argc, argv).c_str());
aruco::Dictionary dictionary =
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
int markersX = parser.get<int>("w");
int markersY = parser.get<int>("h");
int markerLength = parser.get<int>("l");
int markerSeparation = parser.get<int>("s");
int dictionaryId = parser.get<int>("d");
int margins = markerSeparation;
if(isParam("-m", argc, argv)) {
margins = atoi(getParam("-m", argc, argv).c_str());
if(parser.has("m")) {
margins = parser.get<int>("m");
}
int borderBits = 1;
if(isParam("-bb", argc, argv)) {
borderBits = atoi(getParam("-bb", argc, argv).c_str());
}
int borderBits = parser.get<int>("bb");
bool showImage = parser.get<bool>("si");
bool showImage = false;
if(isParam("-si", argc, argv)) showImage = true;
String out = parser.get<String>(0);
if(!parser.check()) {
parser.printErrors();
return 0;
}
Size imageSize;
imageSize.width = markersX * (markerLength + markerSeparation) - markerSeparation + 2 * margins;
imageSize.height =
markersY * (markerLength + markerSeparation) - markerSeparation + 2 * margins;
aruco::Dictionary dictionary =
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
aruco::GridBoard board = aruco::GridBoard::create(markersX, markersY, float(markerLength),
float(markerSeparation), dictionary);
@ -137,7 +108,7 @@ int main(int argc, char *argv[]) {
waitKey(0);
}
imwrite(getParam("-o", argc, argv), boardImage);
imwrite(out, boardImage);
return 0;
}

102
modules/aruco/samples/create_board_charuco.cpp
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@ -39,85 +39,57 @@ the use of this software, even if advised of the possibility of such damage.
#include <opencv2/highgui.hpp>
#include <opencv2/aruco/charuco.hpp>
#include <iostream>
using namespace std;
using namespace cv;
/**
*/
static void help() {
cout << "Create a ChArUco board image" << endl;
cout << "Parameters: " << endl;
cout << "-o <image> # Output image" << endl;
cout << "-w <nsquares> # Number of squares in X direction" << endl;
cout << "-h <nsquares> # Number of squares in Y direction" << endl;
cout << "-sl <squareLength> # Square side lenght (in pixels)" << endl;
cout << "-ml <markerLength> # Marker side lenght (in pixels)" << endl;
cout << "-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" << endl;
cout << "[-m <marginSize>] # Margins size (in pixels)"
<< "Default is (squareLength-markerLength)" << endl;
cout << "[-bb <int>] # Number of bits in marker borders. Default is 1" << endl;
cout << "[-si] # show generated image" << endl;
}
/**
*/
static bool isParam(string param, int argc, char **argv) {
for(int i = 0; i < argc; i++)
if(string(argv[i]) == param) return true;
return false;
namespace {
const char* about = "Create a ChArUco board image";
const char* keys =
"{@outfile |<none> | Output image }"
"{w | | Number of squares in X direction }"
"{h | | Number of squares in Y direction }"
"{sl | | Square side lenght (in pixels) }"
"{ml | | Marker side lenght (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}"
"{m | | Margins size (in pixels). Default is (squareLength-markerLength) }"
"{bb | 1 | Number of bits in marker borders }"
"{si | false | show generated image }";
}
/**
*/
static string getParam(string param, int argc, char **argv, string defvalue = "") {
int idx = -1;
for(int i = 0; i < argc && idx == -1; i++)
if(string(argv[i]) == param) idx = i;
if(idx == -1 || (idx + 1) >= argc)
return defvalue;
else
return argv[idx + 1];
}
/**
*/
int main(int argc, char *argv[]) {
CommandLineParser parser(argc, argv, keys);
parser.about(about);
if(!isParam("-w", argc, argv) || !isParam("-h", argc, argv) || !isParam("-sl", argc, argv) ||
!isParam("-ml", argc, argv) || !isParam("-d", argc, argv) || !isParam("-o", argc, argv)) {
help();
if(argc < 7) {
parser.printMessage();
return 0;
}
int squaresX = atoi(getParam("-w", argc, argv).c_str());
int squaresY = atoi(getParam("-h", argc, argv).c_str());
int squareLength = atoi(getParam("-sl", argc, argv).c_str());
int markerLength = atoi(getParam("-ml", argc, argv).c_str());
int dictionaryId = atoi(getParam("-d", argc, argv).c_str());
aruco::Dictionary dictionary =
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
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 dictionaryId = parser.get<int>("d");
int margins = squareLength - markerLength;
if(isParam("-m", argc, argv)) {
margins = atoi(getParam("-m", argc, argv).c_str());
if(parser.has("m")) {
margins = parser.get<int>("m");
}
int borderBits = 1;
if(isParam("-bb", argc, argv)) {
borderBits = atoi(getParam("-bb", argc, argv).c_str());
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;
}
bool showImage = false;
if(isParam("-si", argc, argv)) showImage = true;
aruco::Dictionary dictionary =
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
Size imageSize;
imageSize.width = squaresX * squareLength + 2 * margins;
@ -135,7 +107,7 @@ int main(int argc, char *argv[]) {
waitKey(0);
}
imwrite(getParam("-o", argc, argv), boardImage);
imwrite(out, boardImage);
return 0;
}

96
modules/aruco/samples/create_diamond.cpp
Unescape View File

@ -45,65 +45,50 @@ the use of this software, even if advised of the possibility of such damage.
using namespace std;
using namespace cv;
/**
*/
static void help() {
cout << "Create a ChArUco marker image" << endl;
cout << "Parameters: " << endl;
cout << "-o <image> # Output image" << endl;
cout << "-sl <squareLength> # Square side lenght (in pixels)" << endl;
cout << "-ml <markerLength> # Marker side lenght (in pixels)" << endl;
cout << "-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" << endl;
cout << "-ids <id1,id2,id3,id4> # Four ids for the ChArUco marker" << endl;
cout << "[-m <marginSize>] # Margins size (in pixels). Default is 0" << endl;
cout << "[-bb <int>] # Number of bits in marker borders. Default is 1" << endl;
cout << "[-si] # show generated image" << endl;
}
/**
*/
static bool isParam(string param, int argc, char **argv) {
for(int i = 0; i < argc; i++)
if(string(argv[i]) == param) return true;
return false;
}
/**
*/
static string getParam(string param, int argc, char **argv, string defvalue = "") {
int idx = -1;
for(int i = 0; i < argc && idx == -1; i++)
if(string(argv[i]) == param) idx = i;
if(idx == -1 || (idx + 1) >= argc)
return defvalue;
else
return argv[idx + 1];
namespace {
const char* about = "Create a ChArUco marker image";
const char* keys =
"{@outfile |<none> | Output image }"
"{sl | | Square side lenght (in pixels) }"
"{ml | | Marker side lenght (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}"
"{ids |<none> | Four ids for the ChArUco marker: id1,id2,id3,id4 }"
"{m | 0 | Margins size (in pixels) }"
"{bb | 1 | Number of bits in marker borders }"
"{si | false | show generated image }";
}
/**
*/
int main(int argc, char *argv[]) {
CommandLineParser parser(argc, argv, keys);
parser.about(about);
if(argc < 4) {
parser.printMessage();
return 0;
}
if(!isParam("-sl", argc, argv) || !isParam("-ml", argc, argv) || !isParam("-d", argc, argv) ||
!isParam("-ids", argc, argv)) {
help();
int squareLength = parser.get<int>("sl");
int markerLength = parser.get<int>("ml");
int dictionaryId = parser.get<int>("d");
string idsString = parser.get<string>("ids");
int 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;
}
int squareLength = atoi(getParam("-sl", argc, argv).c_str());
int markerLength = atoi(getParam("-ml", argc, argv).c_str());
int dictionaryId = atoi(getParam("-d", argc, argv).c_str());
aruco::Dictionary dictionary =
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
string idsString = getParam("-ids", argc, argv);
istringstream ss(idsString);
vector< string > splittedIds;
string token;
@ -111,26 +96,13 @@ int main(int argc, char *argv[]) {
splittedIds.push_back(token);
if(splittedIds.size() < 4) {
cerr << "Incorrect ids format" << endl;
help();
parser.printMessage();
return 0;
}
Vec4i ids;
for(int i = 0; i < 4; i++)
ids[i] = atoi(splittedIds[i].c_str());
int margins = 0;
if(isParam("-m", argc, argv)) {
margins = atoi(getParam("-m", argc, argv).c_str());
}
int borderBits = 1;
if(isParam("-bb", argc, argv)) {
borderBits = atoi(getParam("-bb", argc, argv).c_str());
}
bool showImage = false;
if(isParam("-si", argc, argv)) showImage = true;
Mat markerImg;
aruco::drawCharucoDiamond(dictionary, ids, squareLength, markerLength, markerImg, margins,
borderBits);
@ -140,7 +112,7 @@ int main(int argc, char *argv[]) {
waitKey(0);
}
imwrite(getParam("-o", argc, argv), markerImg);
imwrite(out, markerImg);
return 0;
}

86
modules/aruco/samples/create_marker.cpp
Unescape View File

@ -39,78 +39,48 @@ the use of this software, even if advised of the possibility of such damage.
#include <opencv2/highgui.hpp>
#include <opencv2/aruco.hpp>
#include <iostream>
using namespace std;
using namespace cv;
/**
*/
static void help() {
cout << "Create an ArUco marker image" << endl;
cout << "Parameters: " << endl;
cout << "-o <image> # Output image" << endl;
cout << "-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" << endl;
cout << "-id <int> # Marker id in the dictionary" << endl;
cout << "[-ms <int>] # Marker size in pixels. Default is 200" << endl;
cout << "[-bb <int>] # Number of bits in marker borders. Default is 1" << endl;
cout << "[-si] # show generated image" << endl;
}
/**
*/
static bool isParam(string param, int argc, char **argv) {
for(int i = 0; i < argc; i++)
if(string(argv[i]) == param) return true;
return false;
}
/**
*/
static string getParam(string param, int argc, char **argv, string defvalue = "") {
int idx = -1;
for(int i = 0; i < argc && idx == -1; i++)
if(string(argv[i]) == param) idx = i;
if(idx == -1 || (idx + 1) >= argc)
return defvalue;
else
return argv[idx + 1];
namespace {
const char* about = "Create an ArUco marker image";
const char* keys =
"{@outfile |<none> | Output image }"
"{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}"
"{id | | Marker id in the dictionary }"
"{ms | 200 | Marker size in pixels }"
"{bb | 1 | Number of bits in marker borders }"
"{si | false | show generated image }";
}
/**
*/
int main(int argc, char *argv[]) {
CommandLineParser parser(argc, argv, keys);
parser.about(about);
if(!isParam("-d", argc, argv) || !isParam("-o", argc, argv)) {
help();
if(argc < 4) {
parser.printMessage();
return 0;
}
int dictionaryId = atoi(getParam("-d", argc, argv).c_str());
aruco::Dictionary dictionary =
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
int dictionaryId = parser.get<int>("d");
int markerId = parser.get<int>("id");
int borderBits = parser.get<int>("bb");
int markerSize = parser.get<int>("ms");
bool showImage = parser.get<bool>("si");
int markerId = atoi(getParam("-id", argc, argv).c_str());
int borderBits = 1;
if(isParam("-bb", argc, argv)) {
borderBits = atoi(getParam("-bb", argc, argv).c_str());
}
String out = parser.get<String>(0);
int markerSize = 200;
if(isParam("-ms", argc, argv)) {
markerSize = atoi(getParam("-ms", argc, argv).c_str());
if(!parser.check()) {
parser.printErrors();
return 0;
}
bool showImage = false;
if(isParam("-si", argc, argv)) showImage = true;
aruco::Dictionary dictionary =
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
Mat markerImg;
aruco::drawMarker(dictionary, markerId, markerSize, markerImg, borderBits);
@ -120,7 +90,7 @@ int main(int argc, char *argv[]) {
waitKey(0);
}
imwrite(getParam("-o", argc, argv), markerImg);
imwrite(out, markerImg);
return 0;
}

113
modules/aruco/samples/detect_board.cpp
Unescape View File

@ -45,52 +45,25 @@ the use of this software, even if advised of the possibility of such damage.
using namespace std;
using namespace cv;
/**
*/
static void help() {
cout << "Pose estimation using a ArUco Planar Grid board" << endl;
cout << "Parameters: " << endl;
cout << "-w <nmarkers> # Number of markers in X direction" << endl;
cout << "-h <nmarkers> # Number of markers in Y direction" << endl;
cout << "-l <markerLength> # Marker side lenght (in meters)" << endl;
cout << "-s <markerSeparation> # Separation between two consecutive"
<< "markers in the grid (in meters)" << endl;
cout << "-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" << endl;
cout << "-c <cameraParams> # Camera intrinsic parameters file" << endl;
cout << "[-v <videoFile>] # Input from video file, if ommited, input comes from camera" << endl;
cout << "[-ci <int>] # Camera id if input doesnt come from video (-v). Default is 0" << endl;
cout << "[-dp <detectorParams>] # File of marker detector parameters" << endl;
cout << "[-rs] # Apply refind strategy" << endl;
cout << "[-r] # show rejected candidates too" << endl;
}
/**
*/
static bool isParam(string param, int argc, char **argv) {
for(int i = 0; i < argc; i++)
if(string(argv[i]) == param) return true;
return false;
namespace {
const char* about = "Pose estimation using a ArUco Planar Grid board";
const char* keys =
"{w | | Number of squares in X direction }"
"{h | | Number of squares in Y direction }"
"{l | | Marker side lenght (in pixels) }"
"{s | | Separation between two consecutive markers in the grid (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}"
"{c | | Output file with calibrated camera parameters }"
"{v | | Input from video file, if ommited, input comes from camera }"
"{ci | 0 | Camera id if input doesnt come from video (-v) }"
"{dp | | File of marker detector parameters }"
"{rs | | Apply refind strategy }"
"{r | | show rejected candidates too }";
}
/**
*/
static string getParam(string param, int argc, char **argv, string defvalue = "") {
int idx = -1;
for(int i = 0; i < argc && idx == -1; i++)
if(string(argv[i]) == param) idx = i;
if(idx == -1 || (idx + 1) >= argc)
return defvalue;
else
return argv[idx + 1];
}
/**
*/
static bool readCameraParameters(string filename, Mat &camMatrix, Mat &distCoeffs) {
@ -137,27 +110,27 @@ static bool readDetectorParameters(string filename, aruco::DetectorParameters &p
/**
*/
int main(int argc, char *argv[]) {
CommandLineParser parser(argc, argv, keys);
parser.about(about);
if(!isParam("-w", argc, argv) || !isParam("-h", argc, argv) || !isParam("-l", argc, argv) ||
!isParam("-s", argc, argv) || !isParam("-d", argc, argv) || !isParam("-c", argc, argv)) {
help();
if(argc < 7) {
parser.printMessage();
return 0;
}
int markersX = atoi(getParam("-w", argc, argv).c_str());
int markersY = atoi(getParam("-h", argc, argv).c_str());
float markerLength = (float)atof(getParam("-l", argc, argv).c_str());
float markerSeparation = (float)atof(getParam("-s", argc, argv).c_str());
int dictionaryId = atoi(getParam("-d", argc, argv).c_str());
aruco::Dictionary dictionary =
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
int markersX = parser.get<int>("w");
int markersY = parser.get<int>("h");
float markerLength = parser.get<float>("l");
float markerSeparation = parser.get<float>("s");
int dictionaryId = parser.get<int>("d");
bool showRejected = parser.has("r");
bool refindStrategy = parser.has("rs");
int camId = parser.get<int>("ci");
bool showRejected = false;
if(isParam("-r", argc, argv)) showRejected = true;
Mat camMatrix, distCoeffs;
if(isParam("-c", argc, argv)) {
bool readOk = readCameraParameters(getParam("-c", argc, argv), camMatrix, distCoeffs);
if(parser.has("c")) {
bool readOk = readCameraParameters(parser.get<string>("c"), camMatrix, distCoeffs);
if(!readOk) {
cerr << "Invalid camera file" << endl;
return 0;
@ -165,8 +138,8 @@ int main(int argc, char *argv[]) {
}
aruco::DetectorParameters detectorParams;
if(isParam("-dp", argc, argv)) {
bool readOk = readDetectorParameters(getParam("-dp", argc, argv), detectorParams);
if(parser.has("dp")) {
bool readOk = readDetectorParameters(parser.get<string>("dp"), detectorParams);
if(!readOk) {
cerr << "Invalid detector parameters file" << endl;
return 0;
@ -174,17 +147,25 @@ int main(int argc, char *argv[]) {
}
detectorParams.doCornerRefinement = true; // do corner refinement in markers
bool refindStrategy = false;
if(isParam("-rs", argc, argv)) refindStrategy = true;
String video;
if(parser.has("v")) {
video = parser.get<String>("v");
}
if(!parser.check()) {
parser.printErrors();
return 0;
}
aruco::Dictionary dictionary =
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
VideoCapture inputVideo;
int waitTime;
if(isParam("-v", argc, argv)) {
inputVideo.open(getParam("-v", argc, argv));
if(!video.empty()) {
inputVideo.open(video);
waitTime = 0;
} else {
int camId = 0;
if(isParam("-ci", argc, argv)) camId = atoi(getParam("-ci", argc, argv).c_str());
inputVideo.open(camId);
waitTime = 10;
}

114
modules/aruco/samples/detect_board_charuco.cpp
Unescape View File

@ -46,50 +46,25 @@ using namespace std;
using namespace cv;
/**
*/
static void help() {
cout << "Pose estimation using a ChArUco board" << endl;
cout << "Parameters: " << endl;
cout << "-w <nmarkers> # Number of markers in X direction" << endl;
cout << "-h <nsquares> # Number of squares in Y direction" << endl;
cout << "-sl <squareLength> # Square side lenght (in meters)" << endl;
cout << "-ml <markerLength> # Marker side lenght (in meters)" << endl;
cout << "-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" << endl;
cout << "[-c <cameraParams>] # Camera intrinsic parameters file" << endl;
cout << "[-v <videoFile>] # Input from video file, if ommited, input comes from camera" << endl;
cout << "[-ci <int>] # Camera id if input doesnt come from video (-v). Default is 0" << endl;
cout << "[-dp <detectorParams>] # File of marker detector parameters" << endl;
cout << "[-rs] # Apply refind strategy" << endl;
cout << "[-r] # show rejected candidates too" << endl;
}
/**
*/
static bool isParam(string param, int argc, char **argv) {
for(int i = 0; i < argc; i++)
if(string(argv[i]) == param) return true;
return false;
}
/**
*/
static string getParam(string param, int argc, char **argv, string defvalue = "") {
int idx = -1;
for(int i = 0; i < argc && idx == -1; i++)
if(string(argv[i]) == param) idx = i;
if(idx == -1 || (idx + 1) >= argc)
return defvalue;
else
return argv[idx + 1];
namespace {
const char* about = "Pose estimation using a ChArUco board";
const char* keys =
"{w | | Number of squares in X direction }"
"{h | | Number of squares in Y direction }"
"{sl | | Square side lenght (in pixels) }"
"{ml | | Marker side lenght (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}"
"{c | | Output file with calibrated camera parameters }"
"{v | | Input from video file, if ommited, input comes from camera }"
"{ci | 0 | Camera id if input doesnt come from video (-v) }"
"{dp | | File of marker detector parameters }"
"{rs | | Apply refind strategy }"
"{r | | show rejected candidates too }";
}
/**
*/
static bool readCameraParameters(string filename, Mat &camMatrix, Mat &distCoeffs) {
@ -135,27 +110,31 @@ static bool readDetectorParameters(string filename, aruco::DetectorParameters &p
/**
*/
int main(int argc, char *argv[]) {
CommandLineParser parser(argc, argv, keys);
parser.about(about);
if(!isParam("-w", argc, argv) || !isParam("-h", argc, argv) || !isParam("-sl", argc, argv) ||
!isParam("-ml", argc, argv) || !isParam("-d", argc, argv)) {
help();
if(argc < 6) {
parser.printMessage();
return 0;
}
int squaresX = atoi(getParam("-w", argc, argv).c_str());
int squaresY = atoi(getParam("-h", argc, argv).c_str());
float squareLength = (float)atof(getParam("-sl", argc, argv).c_str());
float markerLength = (float)atof(getParam("-ml", argc, argv).c_str());
int dictionaryId = atoi(getParam("-d", argc, argv).c_str());
aruco::Dictionary dictionary =
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
bool showRejected = false;
if(isParam("-r", argc, argv)) showRejected = true;
int squaresX = parser.get<int>("w");
int squaresY = parser.get<int>("h");
float squareLength = parser.get<float>("sl");
float markerLength = parser.get<float>("ml");
int dictionaryId = parser.get<int>("d");
bool showRejected = parser.has("r");
bool refindStrategy = parser.has("rs");
int camId = parser.get<int>("ci");
String video;
if(parser.has("v")) {
video = parser.get<String>("v");
}
Mat camMatrix, distCoeffs;
if(isParam("-c", argc, argv)) {
bool readOk = readCameraParameters(getParam("-c", argc, argv), camMatrix, distCoeffs);
if(parser.has("c")) {
bool readOk = readCameraParameters(parser.get<string>("c"), camMatrix, distCoeffs);
if(!readOk) {
cerr << "Invalid camera file" << endl;
return 0;
@ -163,25 +142,28 @@ int main(int argc, char *argv[]) {
}
aruco::DetectorParameters detectorParams;
if(isParam("-dp", argc, argv)) {
bool readOk = readDetectorParameters(getParam("-dp", argc, argv), detectorParams);
if(parser.has("dp")) {
bool readOk = readDetectorParameters(parser.get<string>("dp"), detectorParams);
if(!readOk) {
cerr << "Invalid detector parameters file" << endl;
return 0;
}
}
bool refindStrategy = false;
if(isParam("-rs", argc, argv)) refindStrategy = true;
if(!parser.check()) {
parser.printErrors();
return 0;
}
aruco::Dictionary dictionary =
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
VideoCapture inputVideo;
int waitTime;
if(isParam("-v", argc, argv)) {
inputVideo.open(getParam("-v", argc, argv));
if(!video.empty()) {
inputVideo.open(video);
waitTime = 0;
} else {
int camId = 0;
if(isParam("-ci", argc, argv)) camId = atoi(getParam("-ci", argc, argv).c_str());
inputVideo.open(camId);
waitTime = 10;
}
@ -251,7 +233,7 @@ int main(int argc, char *argv[]) {
if(interpolatedCorners > 0) {
Scalar color;
color = Scalar(0, 0, 255);
color = Scalar(255, 0, 0);
aruco::drawDetectedCornersCharuco(imageCopy, charucoCorners, charucoIds, color);
}

126
modules/aruco/samples/detect_diamonds.cpp
Unescape View File

@ -46,51 +46,26 @@ using namespace std;
using namespace cv;
/**
*/
static void help() {
cout << "Detect ChArUco markers" << endl;
cout << "Parameters: " << endl;
cout << "-sl <squareLength> # Square side lenght (in meters)" << endl;
cout << "-ml <markerLength> # Marker side lenght (in meters)" << endl;
cout << "-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" << endl;
cout << "[-c <cameraParams>] # Camera intrinsic parameters file" << endl;
cout << "[-as <float>] # Automatic scale. The provided number is multiplied by the last "
<< "diamond id becoming an indicator of the square length. In this case, the -sl and "
<< "-ml are only used to know the relative length relation between "
<< "squares and markers" << endl;
cout << "[-v <videoFile>] # Input from video file, if ommited, input comes from camera" << endl;
cout << "[-ci <int>] # Camera id if input doesnt come from video (-v). Default is 0" << endl;
cout << "[-dp <detectorParams>] # File of marker detector parameters" << endl;
cout << "[-r] # show rejected candidates too" << endl;
}
/**
*/
static bool isParam(string param, int argc, char **argv) {
for(int i = 0; i < argc; i++)
if(string(argv[i]) == param) return true;
return false;
}
/**
*/
static string getParam(string param, int argc, char **argv, string defvalue = "") {
int idx = -1;
for(int i = 0; i < argc && idx == -1; i++)
if(string(argv[i]) == param) idx = i;
if(idx == -1 || (idx + 1) >= argc)
return defvalue;
else
return argv[idx + 1];
namespace {
const char* about = "Detect ChArUco markers";
const char* keys =
"{sl | | Square side lenght (in pixels) }"
"{ml | | Marker side lenght (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}"
"{c | | Output file with calibrated camera parameters }"
"{as | | Automatic scale. The provided number is multiplied by the last"
"diamond id becoming an indicator of the square length. In this case, the -sl and "
"-ml are only used to know the relative length relation between squares and markers }"
"{v | | Input from video file, if ommited, input comes from camera }"
"{ci | 0 | Camera id if input doesnt come from video (-v) }"
"{dp | | File of marker detector parameters }"
"{rs | | Apply refind strategy }"
"{r | | show rejected candidates too }";
}
/**
*/
static bool readCameraParameters(string filename, Mat &camMatrix, Mat &distCoeffs) {
@ -136,56 +111,61 @@ static bool readDetectorParameters(string filename, aruco::DetectorParameters &p
/**
*/
int main(int argc, char *argv[]) {
CommandLineParser parser(argc, argv, keys);
parser.about(about);
if(!isParam("-sl", argc, argv) || !isParam("-ml", argc, argv) || !isParam("-d", argc, argv)) {
help();
if(argc < 4) {
parser.printMessage();
return 0;
}
float squareLength = (float)atof(getParam("-sl", argc, argv).c_str());
float markerLength = (float)atof(getParam("-ml", argc, argv).c_str());
int dictionaryId = atoi(getParam("-d", argc, argv).c_str());
aruco::Dictionary dictionary =
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
bool showRejected = false;
if(isParam("-r", argc, argv)) showRejected = true;
float squareLength = parser.get<float>("sl");
float markerLength = parser.get<float>("ml");
int dictionaryId = parser.get<int>("d");
bool showRejected = parser.has("r");
bool estimatePose = parser.has("c");
bool autoScale = parser.has("as");
float autoScaleFactor = autoScale ? parser.get<float>("as") : 1.f;
bool estimatePose = false;
Mat camMatrix, distCoeffs;
if(isParam("-c", argc, argv)) {
bool readOk = readCameraParameters(getParam("-c", argc, argv), camMatrix, distCoeffs);
aruco::DetectorParameters detectorParams;
if(parser.has("dp")) {
bool readOk = readDetectorParameters(parser.get<string>("dp"), detectorParams);
if(!readOk) {
cerr << "Invalid camera file" << endl;
cerr << "Invalid detector parameters file" << endl;
return 0;
}
estimatePose = true;
}
bool autoScale = false;
float autoScaleFactor = 1.;
if(isParam("-as", argc, argv)) {
autoScaleFactor = (float)atof(getParam("-as", argc, argv).c_str());
autoScale = true;
int camId = parser.get<int>("ci");
String video;
if(parser.has("v")) {
video = parser.get<String>("v");
}
aruco::DetectorParameters detectorParams;
if(isParam("-dp", argc, argv)) {
bool readOk = readDetectorParameters(getParam("-dp", argc, argv), detectorParams);
if(!parser.check()) {
parser.printErrors();
return 0;
}
aruco::Dictionary dictionary =
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
Mat camMatrix, distCoeffs;
if(estimatePose) {
bool readOk = readCameraParameters(parser.get<string>("c"), camMatrix, distCoeffs);
if(!readOk) {
cerr << "Invalid detector parameters file" << endl;
cerr << "Invalid camera file" << endl;
return 0;
}
}
VideoCapture inputVideo;
int waitTime;
if(isParam("-v", argc, argv)) {
inputVideo.open(getParam("-v", argc, argv));
if(!video.empty()) {
inputVideo.open(video);
waitTime = 0;
} else {
int camId = 0;
if(isParam("-ci", argc, argv)) camId = atoi(getParam("-ci", argc, argv).c_str());
inputVideo.open(camId);
waitTime = 10;
}
@ -224,7 +204,7 @@ int main(int argc, char *argv[]) {
for(unsigned int i = 0; i < diamondCorners.size(); i++) {
float autoSquareLength = autoScaleFactor * float(diamondIds[i].val[3]);
vector< vector< Point2f > > currentCorners;
vector< Mat > currentRvec, currentTvec;
vector< Vec3d > currentRvec, currentTvec;
currentCorners.push_back(diamondCorners[i]);
aruco::estimatePoseSingleMarkers(currentCorners, autoSquareLength, camMatrix,
distCoeffs, currentRvec, currentTvec);

114
modules/aruco/samples/detect_markers.cpp
Unescape View File

@ -39,56 +39,26 @@ the use of this software, even if advised of the possibility of such damage.
#include <opencv2/highgui.hpp>
#include <opencv2/aruco.hpp>
#include <vector>
#include <iostream>
using namespace std;
using namespace cv;
/**
*/
static void help() {
cout << "Basic marker detection" << endl;
cout << "Parameters: " << endl;
cout << "-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" << endl;
cout << "[-v <videoFile>] # Input from video file, if ommited, input comes from camera" << endl;
cout << "[-ci <int>] # Camera id if input doesnt come from video (-v). Default is 0" << endl;
cout << "[-c <cameraParams>] # Camera intrinsic parameters. Needed for camera pose" << endl;
cout << "[-l <markerLength>] # Marker side lenght (in meters). Needed for correct"
<< "scale in camera pose, default 0.1" << endl;
cout << "[-dp <detectorParams>] # File of marker detector parameters" << endl;
cout << "[-r] # show rejected candidates too" << endl;
}
/**
*/
static bool isParam(string param, int argc, char **argv) {
for(int i = 0; i < argc; i++)
if(string(argv[i]) == param) return true;
return false;
namespace {
const char* about = "Basic marker detection";
const char* keys =
"{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}"
"{v | | Input from video file, if ommited, input comes from camera }"
"{ci | 0 | Camera id if input doesnt come from video (-v) }"
"{c | | Camera intrinsic parameters. Needed for camera pose }"
"{l | 0.1 | Marker side lenght (in meters). Needed for correct scale in camera pose }"
"{dp | | File of marker detector parameters }"
"{r | | show rejected candidates too }";
}
/**
*/
static string getParam(string param, int argc, char **argv, string defvalue = "") {
int idx = -1;
for(int i = 0; i < argc && idx == -1; i++)
if(string(argv[i]) == param) idx = i;
if(idx == -1 || (idx + 1) >= argc)
return defvalue;
else
return argv[idx + 1];
}
/**
*/
static bool readCameraParameters(string filename, Mat &camMatrix, Mat &distCoeffs) {
@ -136,49 +106,59 @@ static bool readDetectorParameters(string filename, aruco::DetectorParameters &p
/**
*/
int main(int argc, char *argv[]) {
CommandLineParser parser(argc, argv, keys);
parser.about(about);
if(!isParam("-d", argc, argv)) {
help();
if(argc < 2) {
parser.printMessage();
return 0;
}
int dictionaryId = atoi(getParam("-d", argc, argv).c_str());
aruco::Dictionary dictionary =
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
bool showRejected = false;
if(isParam("-r", argc, argv)) showRejected = true;
int dictionaryId = parser.get<int>("d");
bool showRejected = parser.has("r");
bool estimatePose = parser.has("c");
float markerLength = parser.get<float>("l");
bool estimatePose = false;
Mat camMatrix, distCoeffs;
if(isParam("-c", argc, argv)) {
bool readOk = readCameraParameters(getParam("-c", argc, argv), camMatrix, distCoeffs);
aruco::DetectorParameters detectorParams;
if(parser.has("dp")) {
bool readOk = readDetectorParameters(parser.get<string>("dp"), detectorParams);
if(!readOk) {
cerr << "Invalid camera file" << endl;
cerr << "Invalid detector parameters file" << endl;
return 0;
}
estimatePose = true;
}
float markerLength = (float)atof(getParam("-l", argc, argv, "0.1").c_str());
detectorParams.doCornerRefinement = true; // do corner refinement in markers
int camId = parser.get<int>("ci");
String video;
if(parser.has("v")) {
video = parser.get<String>("v");
}
aruco::DetectorParameters detectorParams;
if(isParam("-dp", argc, argv)) {
bool readOk = readDetectorParameters(getParam("-dp", argc, argv), detectorParams);
if(!parser.check()) {
parser.printErrors();
return 0;
}
aruco::Dictionary dictionary =
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
Mat camMatrix, distCoeffs;
if(estimatePose) {
bool readOk = readCameraParameters(parser.get<string>("c"), camMatrix, distCoeffs);
if(!readOk) {
cerr << "Invalid detector parameters file" << endl;
cerr << "Invalid camera file" << endl;
return 0;
}
}
detectorParams.doCornerRefinement = true; // do corner refinement in markers
VideoCapture inputVideo;
int waitTime;
if(isParam("-v", argc, argv)) {
inputVideo.open(getParam("-v", argc, argv));
if(!video.empty()) {
inputVideo.open(video);
waitTime = 0;
} else {
int camId = 0;
if(isParam("-ci", argc, argv)) camId = atoi(getParam("-ci", argc, argv).c_str());
inputVideo.open(camId);
waitTime = 10;
}

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