114 lines
4.4 KiB
114 lines
4.4 KiB
/* |
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By downloading, copying, installing or using the software you agree to this |
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license. If you do not agree to this license, do not download, install, |
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copy or use the software. |
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License Agreement |
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For Open Source Computer Vision Library |
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(3-clause BSD License) |
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Copyright (C) 2013, OpenCV Foundation, all rights reserved. |
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Third party copyrights are property of their respective owners. |
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Redistribution and use in source and binary forms, with or without modification, |
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are permitted provided that the following conditions are met: |
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* Redistributions of source code must retain the above copyright notice, |
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this list of conditions and the following disclaimer. |
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* Redistributions in binary form must reproduce the above copyright notice, |
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this list of conditions and the following disclaimer in the documentation |
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and/or other materials provided with the distribution. |
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* Neither the names of the copyright holders nor the names of the contributors |
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may be used to endorse or promote products derived from this software |
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without specific prior written permission. |
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This software is provided by the copyright holders and contributors "as is" and |
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any express or implied warranties, including, but not limited to, the implied |
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warranties of merchantability and fitness for a particular purpose are |
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disclaimed. In no event shall copyright holders or contributors be liable for |
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any direct, indirect, incidental, special, exemplary, or consequential damages |
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(including, but not limited to, procurement of substitute goods or services; |
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loss of use, data, or profits; or business interruption) however caused |
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and on any theory of liability, whether in contract, strict liability, |
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or tort (including negligence or otherwise) arising in any way out of |
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the use of this software, even if advised of the possibility of such damage. |
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*/ |
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#include <opencv2/highgui.hpp> |
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#include <opencv2/aruco.hpp> |
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using namespace cv; |
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namespace { |
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const char* about = "Create an ArUco grid board image"; |
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const char* keys = |
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"{@outfile |<none> | Output image }" |
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"{w | | Number of markers in X direction }" |
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"{h | | Number of markers in Y direction }" |
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"{l | | Marker side length (in pixels) }" |
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"{s | | Separation between two consecutive markers in the grid (in pixels)}" |
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"{d | | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2," |
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"DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, " |
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"DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12," |
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"DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}" |
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"{m | | Margins size (in pixels). Default is marker separation (-s) }" |
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"{bb | 1 | Number of bits in marker borders }" |
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"{si | false | show generated image }"; |
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} |
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int main(int argc, char *argv[]) { |
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CommandLineParser parser(argc, argv, keys); |
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parser.about(about); |
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if(argc < 7) { |
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parser.printMessage(); |
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return 0; |
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} |
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int markersX = parser.get<int>("w"); |
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int markersY = parser.get<int>("h"); |
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int markerLength = parser.get<int>("l"); |
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int markerSeparation = parser.get<int>("s"); |
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int dictionaryId = parser.get<int>("d"); |
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int margins = markerSeparation; |
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if(parser.has("m")) { |
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margins = parser.get<int>("m"); |
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} |
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int borderBits = parser.get<int>("bb"); |
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bool showImage = parser.get<bool>("si"); |
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String out = parser.get<String>(0); |
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if(!parser.check()) { |
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parser.printErrors(); |
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return 0; |
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} |
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Size imageSize; |
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imageSize.width = markersX * (markerLength + markerSeparation) - markerSeparation + 2 * margins; |
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imageSize.height = |
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markersY * (markerLength + markerSeparation) - markerSeparation + 2 * margins; |
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Ptr<aruco::Dictionary> dictionary = |
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aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId)); |
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Ptr<aruco::GridBoard> board = aruco::GridBoard::create(markersX, markersY, float(markerLength), |
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float(markerSeparation), dictionary); |
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// show created board |
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Mat boardImage; |
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board->draw(imageSize, boardImage, margins, borderBits); |
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if(showImage) { |
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imshow("board", boardImage); |
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waitKey(0); |
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} |
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imwrite(out, boardImage); |
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return 0; |
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}
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