115 lines
4.4 KiB
C++
115 lines
4.4 KiB
C++
/*
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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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