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