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#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}"
"{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;
}
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