wehub-resource-sync
79 lines
2.7 KiB
C++
79 lines
2.7 KiB
C++
#include <opencv2/highgui.hpp>
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#include <opencv2/objdetect/charuco_detector.hpp>
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#include <iostream>
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#include "aruco_samples_utility.hpp"
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using namespace cv;
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namespace {
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const char* about = "Create a ChArUco board image";
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//! [charuco_detect_board_keys]
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const char* keys =
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"{@outfile |res.png| Output image }"
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"{w | 5 | Number of squares in X direction }"
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"{h | 7 | Number of squares in Y direction }"
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"{sl | 100 | Square side length (in pixels) }"
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"{ml | 60 | Marker side length (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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"DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
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"{cd | | Input file with custom dictionary }"
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"{m | | Margins size (in pixels). Default is (squareLength-markerLength) }"
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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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//! [charuco_detect_board_keys]
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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 == 1) {
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parser.printMessage();
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}
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int squaresX = parser.get<int>("w");
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int squaresY = parser.get<int>("h");
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int squareLength = parser.get<int>("sl");
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int markerLength = parser.get<int>("ml");
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int margins = squareLength - markerLength;
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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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std::string pathOutImg = parser.get<std::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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//! [create_charucoBoard]
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aruco::Dictionary dictionary = readDictionatyFromCommandLine(parser);
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cv::aruco::CharucoBoard board(Size(squaresX, squaresY), (float)squareLength, (float)markerLength, dictionary);
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//! [create_charucoBoard]
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// show created board
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//! [generate_charucoBoard]
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Mat boardImage;
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Size imageSize;
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imageSize.width = squaresX * squareLength + 2 * margins;
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imageSize.height = squaresY * squareLength + 2 * margins;
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board.generateImage(imageSize, boardImage, margins, borderBits);
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//! [generate_charucoBoard]
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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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if (pathOutImg != "")
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imwrite(pathOutImg, boardImage);
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return 0;
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}
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