257 lines
12 KiB
C++
257 lines
12 KiB
C++
#include <opencv2/highgui.hpp>
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#include <opencv2/objdetect/aruco_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 an ArUco marker image";
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//! [aruco_create_markers_keys]
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const char* keys =
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"{@outfile |<none> | Output image }"
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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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"{cd | | Input file with custom dictionary }"
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"{id | | Marker id in the dictionary }"
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"{ms | 200 | Marker size in pixels }"
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"{bs | 50 | Border size in pixels }"
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"{lp | 50 | Landing Pad Unit in pixels }"
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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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//! [aruco_create_markers_keys]
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Mat create_marker_with_borders(aruco::Dictionary& dictionary, int markerId, int markerSize, int borderBits, int borderSize) {
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Mat tmpImg;
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aruco::generateImageMarker(dictionary, markerId, markerSize, tmpImg, borderBits);
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Mat tmpImgCopy = Mat::ones(borderSize * 2 + markerSize, borderSize * 2 + markerSize, CV_8UC1) * 255;
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tmpImg.copyTo(tmpImgCopy(Rect(borderSize, borderSize, markerSize, markerSize)));
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tmpImg = tmpImgCopy;
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return tmpImg;
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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 < 4) {
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parser.printMessage();
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return 0;
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}
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int markerId = parser.get<int>("id");
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int borderBits = parser.get<int>("bb");
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int markerSize = parser.get<int>("ms");
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bool showImage = parser.get<bool>("si");
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int borderSize = 0;
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if (parser.has("bs")) {
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borderSize = parser.get<int>("bs");
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}
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int landingPadUnit = 0;
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if (parser.has("lp")) {
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landingPadUnit = parser.get<int>("lp");
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borderSize = landingPadUnit;
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borderBits = 1;
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markerSize = landingPadUnit * 4;
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}
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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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aruco::Dictionary dictionary = aruco::getPredefinedDictionary(0);
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if (parser.has("d")) {
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int dictionaryId = parser.get<int>("d");
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dictionary = aruco::getPredefinedDictionary(aruco::PredefinedDictionaryType(dictionaryId));
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}
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else if (parser.has("cd")) {
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FileStorage fs(parser.get<std::string>("cd"), FileStorage::READ);
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bool readOk = dictionary.aruco::Dictionary::readDictionary(fs.root());
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if(!readOk) {
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std::cerr << "Invalid dictionary file" << std::endl;
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return 0;
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}
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}
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else {
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std::cerr << "Dictionary not specified" << std::endl;
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return 0;
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}
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Mat markerImg;
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aruco::generateImageMarker(dictionary, markerId, markerSize, markerImg, borderBits);
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if (borderSize > 0) {
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Mat markerImgCopy = Mat::ones(borderSize * 2 + markerSize, borderSize * 2 + markerSize, CV_8UC1) * 255;
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markerImg.copyTo(markerImgCopy(Rect(borderSize, borderSize, markerSize, markerSize)));
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markerImg = markerImgCopy;
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}
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if (landingPadUnit > 0) {
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Mat markerImgBIG = Mat::ones(landingPadUnit * 62, landingPadUnit * 62, CV_8UC1) * 255;
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// markerId = 0;
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markerId --;
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markerSize = landingPadUnit * 4;
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borderSize = landingPadUnit;
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int newSize = markerSize + borderSize * 2;
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for (int i=0; i<3; i++) {
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(i * landingPadUnit * 5, 0, newSize, newSize)));
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}
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for (int i=0; i<5; i++) {
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 18 + i * landingPadUnit * 5, 0, newSize, newSize)));
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}
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for (int i=0; i<3; i++) {
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 46 + i * landingPadUnit * 5, 0, newSize, newSize)));
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}
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for (int i=0; i<2; i++) {
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 56, landingPadUnit * 5 + i * landingPadUnit * 5, newSize, newSize)));
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}
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for (int i=0; i<5; i++) {
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 56, landingPadUnit * 18 + i * landingPadUnit * 5, newSize, newSize)));
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}
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for (int i=0; i<3; i++) {
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 56, landingPadUnit * 46 + i * landingPadUnit * 5, newSize, newSize)));
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}
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for (int i=0; i<2; i++) {
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 51 - i * landingPadUnit * 5, landingPadUnit * 56, newSize, newSize)));
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}
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for (int i=0; i<5; i++) {
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 38 - i * landingPadUnit * 5, landingPadUnit * 56, newSize, newSize)));
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}
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for (int i=0; i<3; i++) {
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 10 - i * landingPadUnit * 5, landingPadUnit * 56, newSize, newSize)));
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}
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for (int i=0; i<2; i++) {
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(0, landingPadUnit * 51 - i * landingPadUnit * 5, newSize, newSize)));
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}
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for (int i=0; i<5; i++) {
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(0, landingPadUnit * 38 - i * landingPadUnit * 5, newSize, newSize)));
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}
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for (int i=0; i<2; i++) {
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(0, landingPadUnit * 10 - i * landingPadUnit * 5, newSize, newSize)));
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}
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 28, newSize, newSize)));
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 23, newSize, newSize)));
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 33, landingPadUnit * 28, newSize, newSize)));
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 33, newSize, newSize)));
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 23, landingPadUnit * 28, newSize, newSize)));
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 18, newSize, newSize)));
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 38, landingPadUnit * 28, newSize, newSize)));
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 38, newSize, newSize)));
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 18, landingPadUnit * 28, newSize, newSize)));
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 5, newSize, newSize)));
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 51, landingPadUnit * 28, newSize, newSize)));
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 51, newSize, newSize)));
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 5, landingPadUnit * 28, newSize, newSize)));
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 10, newSize, newSize)));
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 46, landingPadUnit * 28, newSize, newSize)));
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 46, newSize, newSize)));
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 10, landingPadUnit * 28, newSize, newSize)));
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// markerId = 90;
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markerSize = landingPadUnit * 4 * 4;
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borderSize = landingPadUnit * 4;
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newSize = markerSize + borderSize * 2;
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 5, landingPadUnit * 5, newSize, newSize)));
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 5 + newSize + landingPadUnit * 4, landingPadUnit * 5, newSize, newSize)));
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 5, landingPadUnit * 5 + newSize + landingPadUnit * 4, newSize, newSize)));
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markerId += 1;
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markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
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markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 5 + newSize + landingPadUnit * 4, landingPadUnit * 5 + newSize + landingPadUnit * 4, newSize, newSize)));
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markerImg = Mat::ones(landingPadUnit * 64, landingPadUnit * 64, CV_8UC1) * 255;
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markerImgBIG.copyTo(markerImg(Rect(landingPadUnit, landingPadUnit, landingPadUnit * 62, landingPadUnit * 62)));
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}
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if(showImage) {
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imshow("marker", markerImg);
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waitKey(0);
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}
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imwrite(out, markerImg);
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return 0;
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}
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