#include #include #include #include "aruco_samples_utility.hpp" using namespace cv; namespace { const char* about = "Create an ArUco grid board image"; const char* keys = "{@outfile | | Output image }" "{w | | Number of markers in X direction }" "{h | | Number of markers in Y direction }" "{l | | Marker side length (in pixels) }" "{s | | Separation between two consecutive markers in the grid (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}" "{cd | | Input file with custom dictionary }" "{m | | Margins size (in pixels). Default is marker separation (-s) }" "{bb | 1 | Number of bits in marker borders }" "{si | false | show generated image }"; } int main(int argc, char *argv[]) { CommandLineParser parser(argc, argv, keys); parser.about(about); if(argc < 7) { parser.printMessage(); return 0; } int markersX = parser.get("w"); int markersY = parser.get("h"); int markerLength = parser.get("l"); int markerSeparation = parser.get("s"); int margins = markerSeparation; if(parser.has("m")) { margins = parser.get("m"); } int borderBits = parser.get("bb"); bool showImage = parser.get("si"); String out = parser.get(0); if(!parser.check()) { parser.printErrors(); return 0; } Size imageSize; imageSize.width = markersX * (markerLength + markerSeparation) - markerSeparation + 2 * margins; imageSize.height = markersY * (markerLength + markerSeparation) - markerSeparation + 2 * margins; aruco::Dictionary dictionary = readDictionatyFromCommandLine(parser); aruco::GridBoard board(Size(markersX, markersY), float(markerLength), float(markerSeparation), dictionary); // show created board //! [aruco_generate_board_image] Mat boardImage; board.generateImage(imageSize, boardImage, margins, borderBits); //! [aruco_generate_board_image] if(showImage) { imshow("board", boardImage); waitKey(0); } imwrite(out, boardImage); return 0; }