chore: import upstream snapshot with attribution

2026-07-13 12:06:04 +08:00
commit 86c9b1c39f
7743 changed files with 3316339 additions and 0 deletions
@@ -0,0 +1,78 @@
+#include <opencv2/highgui.hpp>
+#include <opencv2/objdetect/charuco_detector.hpp>
+#include <iostream>
+#include "aruco_samples_utility.hpp"
+
+using namespace cv;
+
+namespace {
+const char* about = "Create a ChArUco board image";
+//! [charuco_detect_board_keys]
+const char* keys  =
+        "{@outfile |res.png| Output image }"
+        "{w        |  5    | Number of squares in X direction }"
+        "{h        |  7    | Number of squares in Y direction }"
+        "{sl       |  100  | Square side length (in pixels) }"
+        "{ml       |  60   | Marker side length (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,"
+        "DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
+        "{cd       |       | Input file with custom dictionary }"
+        "{m        |       | Margins size (in pixels). Default is (squareLength-markerLength) }"
+        "{bb       | 1     | Number of bits in marker borders }"
+        "{si       | false | show generated image }";
+}
+//! [charuco_detect_board_keys]
+
+
+int main(int argc, char *argv[]) {
+    CommandLineParser parser(argc, argv, keys);
+    parser.about(about);
+    if (argc == 1) {
+        parser.printMessage();
+    }
+
+    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 margins = squareLength - markerLength;
+    if(parser.has("m")) {
+        margins = parser.get<int>("m");
+    }
+
+    int borderBits = parser.get<int>("bb");
+    bool showImage = parser.get<bool>("si");
+
+    std::string pathOutImg = parser.get<std::string>(0);
+
+    if(!parser.check()) {
+        parser.printErrors();
+        return 0;
+    }
+
+    //! [create_charucoBoard]
+    aruco::Dictionary dictionary = readDictionatyFromCommandLine(parser);
+    cv::aruco::CharucoBoard board(Size(squaresX, squaresY), (float)squareLength, (float)markerLength, dictionary);
+    //! [create_charucoBoard]
+
+    // show created board
+    //! [generate_charucoBoard]
+    Mat boardImage;
+    Size imageSize;
+    imageSize.width = squaresX * squareLength + 2 * margins;
+    imageSize.height = squaresY * squareLength + 2 * margins;
+    board.generateImage(imageSize, boardImage, margins, borderBits);
+    //! [generate_charucoBoard]
+
+    if(showImage) {
+        imshow("board", boardImage);
+        waitKey(0);
+    }
+
+    if (pathOutImg != "")
+        imwrite(pathOutImg, boardImage);
+    return 0;
+}