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#include <opencv2/highgui.hpp>
#include <opencv2/objdetect/charuco_detector.hpp>
#include <vector>
#include <iostream>
#include "aruco_samples_utility.hpp"
using namespace std;
using namespace cv;
namespace {
const char* about = "Create a ChArUco marker image";
const char* keys =
"{@outfile | res.png | Output image }"
"{sl | 100 | Square side length (in pixels) }"
"{ml | 60 | Marker side length (in pixels) }"
"{cd | | Input file with custom dictionary }"
"{d | 10 | 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}"
"{ids |0, 1, 2, 3 | Four ids for the ChArUco marker: id1,id2,id3,id4 }"
"{m | 0 | Margins size (in pixels) }"
"{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);
int squareLength = parser.get<int>("sl");
int markerLength = parser.get<int>("ml");
string idsString = parser.get<string>("ids");
int margins = parser.get<int>("m");
int borderBits = parser.get<int>("bb");
bool showImage = parser.get<bool>("si");
string out = parser.get<string>(0);
aruco::Dictionary dictionary = readDictionatyFromCommandLine(parser);
if(!parser.check()) {
parser.printErrors();
return 0;
}
istringstream ss(idsString);
vector<string> splittedIds;
string token;
while(getline(ss, token, ','))
splittedIds.push_back(token);
if(splittedIds.size() < 4) {
throw std::runtime_error("Incorrect ids format\n");
}
Vec4i ids;
for(int i = 0; i < 4; i++)
ids[i] = atoi(splittedIds[i].c_str());
//! [generate_diamond]
vector<int> diamondIds = {ids[0], ids[1], ids[2], ids[3]};
aruco::CharucoBoard charucoBoard(Size(3, 3), (float)squareLength, (float)markerLength, dictionary, diamondIds);
Mat markerImg;
charucoBoard.generateImage(Size(3*squareLength + 2*margins, 3*squareLength + 2*margins), markerImg, margins, borderBits);
//! [generate_diamond]
if(showImage) {
imshow("board", markerImg);
waitKey(0);
}
if (out != "")
imwrite(out, markerImg);
return 0;
}
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