This is an example that demonstrates the generation of MarkerData markers and saving the image using SaveMarkerImage.
#include "ar_track_alvar/MultiMarker.h" #include "highgui.h" using namespace std; using namespace alvar; struct State { IplImage *img; stringstream filename; double minx, miny, maxx, maxy; // top-left and bottom-right in pixel units MultiMarker multi_marker; // General options bool prompt; double units; // how many pixels per one unit double marker_side_len; // marker side len in current units int marker_type; // 0:MarkerData, 1:ArToolkit double posx, posy; // The position of marker center in the given units int content_res; double margin_res; bool array; // MarkerData specific options MarkerData::MarkerContentType marker_data_content_type; bool marker_data_force_strong_hamming; State() : img(0), prompt(false), units(96.0/2.54), // cm assuming 96 dpi marker_side_len(9.0), // 9 cm marker_type(0), posx(0), posy(0), content_res(0), // 0 uses default margin_res(0.0), // 0.0 uses default (can be n*0.5) marker_data_content_type(MarkerData::MARKER_CONTENT_TYPE_NUMBER), marker_data_force_strong_hamming(false) {} ~State() { if (img) cvReleaseImage(&img); } void AddMarker(const char *id) { std::cout<<"ADDING MARKER "<<id<<std::endl; if (marker_type == 0) { MarkerData md(marker_side_len, content_res, margin_res); int side_len = int(marker_side_len*units+0.5); if (img == 0) { img = cvCreateImage(cvSize(side_len, side_len), IPL_DEPTH_8U, 1); filename.str(""); filename<<"MarkerData"; minx = (posx*units) - (marker_side_len*units/2.0); miny = (posy*units) - (marker_side_len*units/2.0); maxx = (posx*units) + (marker_side_len*units/2.0); maxy = (posy*units) + (marker_side_len*units/2.0); } else { double new_minx = (posx*units) - (marker_side_len*units/2.0); double new_miny = (posy*units) - (marker_side_len*units/2.0); double new_maxx = (posx*units) + (marker_side_len*units/2.0); double new_maxy = (posy*units) + (marker_side_len*units/2.0); if (minx < new_minx) new_minx = minx; if (miny < new_miny) new_miny = miny; if (maxx > new_maxx) new_maxx = maxx; if (maxy > new_maxy) new_maxy = maxy; IplImage *new_img = cvCreateImage(cvSize(int(new_maxx-new_minx+0.5), int(new_maxy-new_miny+0.5)), IPL_DEPTH_8U, 1); cvSet(new_img, cvScalar(255)); CvRect roi = cvRect(int(minx-new_minx+0.5), int(miny-new_miny+0.5), img->width, img->height); cvSetImageROI(new_img, roi); cvCopy(img, new_img); cvReleaseImage(&img); img = new_img; roi.x = int((posx*units) - (marker_side_len*units/2.0) - new_minx + 0.5); roi.y = int((posy*units) - (marker_side_len*units/2.0) - new_miny + 0.5); roi.width = int(marker_side_len*units+0.5); roi.height = int(marker_side_len*units+0.5); cvSetImageROI(img, roi); minx = new_minx; miny = new_miny; maxx = new_maxx; maxy = new_maxy; } if (marker_data_content_type == MarkerData::MARKER_CONTENT_TYPE_NUMBER) { int idi = atoi(id); md.SetContent(marker_data_content_type, idi, 0); if (filename.str().length()<64) filename<<"_"<<idi; Pose pose; pose.Reset(); pose.SetTranslation(posx, -posy, 0); multi_marker.PointCloudAdd(idi, marker_side_len, pose); } else { md.SetContent(marker_data_content_type, 0, id); const char *p = id; int counter=0; filename<<"_"; while(*p) { if (!isalnum(*p)) filename<<"_"; else filename<<(char)tolower(*p); p++; counter++; if (counter > 8) break; } } md.ScaleMarkerToImage(img); cvResetImageROI(img); } else if (marker_type == 1) { // Create and save MarkerArtoolkit marker (Note, that this doesn't support multi markers) MarkerArtoolkit md(marker_side_len, content_res, margin_res); int side_len = int(marker_side_len*units+0.5); if (img != 0) cvReleaseImage(&img); img = cvCreateImage(cvSize(side_len, side_len), IPL_DEPTH_8U, 1); filename.str(""); filename<<"MarkerArtoolkit"; md.SetContent(atoi(id)); filename<<"_"<<atoi(id); md.ScaleMarkerToImage(img); } } void Save() { if (img) { std::stringstream filenamexml; filenamexml<<filename.str()<<".xml"; filename<<".png"; std::cout<<"Saving: "<<filename.str()<<std::endl; cvSaveImage(filename.str().c_str(), img); if (multi_marker.Size() > 1) { std::cout<<"Saving: "<<filenamexml.str()<<std::endl; multi_marker.Save(filenamexml.str().c_str(), alvar::FILE_FORMAT_XML); } } } } st; int main(int argc, char *argv[]) { try { if (argc < 2) st.prompt = true; for (int i=1; i<argc; i++) { if (strcmp(argv[i],"-f") == 0) st.marker_data_force_strong_hamming=true; else if (strcmp(argv[i],"-1") == 0) st.marker_data_content_type = MarkerData::MARKER_CONTENT_TYPE_STRING; else if (strcmp(argv[i],"-2") == 0) st.marker_data_content_type = MarkerData::MARKER_CONTENT_TYPE_FILE; else if (strcmp(argv[i],"-3") == 0) st.marker_data_content_type = MarkerData::MARKER_CONTENT_TYPE_HTTP; else if (strcmp(argv[i],"-u") == 0) st.units = atof(argv[++i]); else if (strcmp(argv[i],"-uin") == 0) st.units = (96.0); else if (strcmp(argv[i],"-ucm") == 0) st.units = (96.0/2.54); else if (strcmp(argv[i],"-s") == 0) st.marker_side_len = atof(argv[++i]); else if (strcmp(argv[i],"-r") == 0) st.content_res = atoi(argv[++i]); else if (strcmp(argv[i],"-m") == 0) st.margin_res = atof(argv[++i]); else if (strcmp(argv[i],"-a") == 0) st.marker_type = 1; else if (strcmp(argv[i],"-p") == 0) st.prompt = true; else if (strcmp(argv[i],"-xy") == 0) { st.posx = atof(argv[++i]); st.posy = atof(argv[++i]); } else if (strcmp(argv[i],"-ar") == 0) { st.array = true; } else st.AddMarker(argv[i]); } // Output usage message if (st.prompt) { std::string filename(argv[0]); filename = filename.substr(filename.find_last_of('\\') + 1); std::cout << "SampleMarkerCreator" << std::endl; std::cout << "===================" << std::endl; std::cout << std::endl; std::cout << "Description:" << std::endl; std::cout << " This is an example of how to use the 'MarkerData' and 'MarkerArtoolkit'" << std::endl; std::cout << " classes to generate marker images. This application can be used to" << std::endl; std::cout << " generate markers and multimarker setups that can be used with" << std::endl; std::cout << " SampleMarkerDetector and SampleMultiMarker." << std::endl; std::cout << std::endl; std::cout << "Usage:" << std::endl; std::cout << " " << filename << " [options] argument" << std::endl; std::cout << std::endl; std::cout << " 65535 marker with number 65535" << std::endl; std::cout << " -f 65535 force hamming(8,4) encoding" << std::endl; std::cout << " -1 \"hello world\" marker with string" << std::endl; std::cout << " -2 catalog.xml marker with file reference" << std::endl; std::cout << " -3 www.vtt.fi marker with URL" << std::endl; std::cout << " -u 96 use units corresponding to 1.0 unit per 96 pixels" << std::endl; std::cout << " -uin use inches as units (assuming 96 dpi)" << std::endl; std::cout << " -ucm use cm's as units (assuming 96 dpi) <default>" << std::endl; std::cout << " -s 5.0 use marker size 5.0x5.0 units (default 9.0x9.0)" << std::endl; std::cout << " -r 5 marker content resolution -- 0 uses default" << std::endl; std::cout << " -m 2.0 marker margin resolution -- 0 uses default" << std::endl; std::cout << " -a use ArToolkit style matrix markers" << std::endl; std::cout << " -p prompt marker placements interactively from the user" << std::endl; std::cout << std::endl; // Interactive stuff here if (st.prompt) { st.marker_type = 0; st.marker_data_content_type = MarkerData::MARKER_CONTENT_TYPE_NUMBER; std::cout<<"\nPrompt marker placements interactively"<<std::endl; std::cout<<" units: "<<st.units/96.0*2.54<<" cm "<<st.units/96.0<<" inches"<<std::endl; std::cout<<" marker side: "<<st.marker_side_len<<" units"<<std::endl; bool loop=true; std::string s; int marker_id=0; double posx=0.0, posy=0.0; bool vert=false; while(loop) { std::cout<<" marker id (use -1 to end) ["<<marker_id<<"]: "; std::flush(std::cout); std::getline(std::cin, s); if (s.length() > 0) marker_id=atoi(s.c_str()); if (marker_id < 0) break; std::cout<<" x position (in current units) ["<<posx<<"]: "; std::flush(std::cout); std::getline(std::cin, s); if (s.length() > 0) posx=atof(s.c_str()); std::cout<<" y position (in current units) ["<<posy<<"]: "; std::flush(std::cout); std::getline(std::cin, s); if (s.length() > 0) posy=atof(s.c_str()); st.posx=posx; st.posy=posy; std::stringstream ss; ss<<marker_id; st.AddMarker(ss.str().c_str()); // Guess suitable marker_id and placement for the next marker marker_id++; if (posx <= 0) { posx = int(sqrt(double(marker_id)))*st.marker_side_len*2; posy = 0; vert = true; } else if (vert) { posy += (st.marker_side_len*2); if (posy >= posx) vert = false; } else { posx -= (st.marker_side_len*2); } } } } else if(st.array) { st.marker_type = 0; st.marker_data_content_type = MarkerData::MARKER_CONTENT_TYPE_NUMBER; int rows = 0; int cols = 0; double rows_distance = 0; double cols_distance = 0; bool column_major = 1; int first_id = 0; int marker_id = 0; std::string s; std::cout<<"\nPrompt marker placements interactively"<<std::endl; std::cout<<" units: "<<st.units/96.0*2.54<<" cm "<<st.units/96.0<<" inches"<<std::endl; std::cout<<" marker side: "<<st.marker_side_len<<" units"<<std::endl; std::cout<<"Array rows : "; std::flush(std::cout); std::getline(std::cin, s); if (s.length() > 0) rows=atoi(s.c_str()); std::cout<<"Array cols : "; std::flush(std::cout); std::getline(std::cin, s); if (s.length() > 0) cols=atoi(s.c_str()); std::cout<<"Rows distance : "; std::flush(std::cout); std::getline(std::cin, s); if (s.length() > 0) rows_distance=atof(s.c_str()); std::cout<<"Cols distance : "; std::flush(std::cout); std::getline(std::cin, s); if (s.length() > 0) cols_distance=atof(s.c_str()); std::cout<<"Column major (1 or 0) : "; std::flush(std::cout); std::getline(std::cin, s); if (s.length() > 0) column_major=atoi(s.c_str()); std::cout<<"First marker ID : "; std::flush(std::cout); std::getline(std::cin, s); if (s.length() > 0) first_id=atoi(s.c_str()); if(!column_major) { for(int row = 0; row<rows; row++) for(int col = 0; col<cols; col++) { st.posy=row*rows_distance; st.posx=col*cols_distance; marker_id = first_id + row*cols + col; std::stringstream ss; ss<<marker_id; st.AddMarker(ss.str().c_str()); } } else { for(int col = 0; col<cols; col++) for(int row = 0; row<rows; row++) { st.posy=row*rows_distance; st.posx=col*cols_distance; marker_id = first_id + col*rows + row; std::stringstream ss; ss<<marker_id; st.AddMarker(ss.str().c_str()); } } } st.Save(); return 0; } catch (const std::exception &e) { std::cout << "Exception: " << e.what() << endl; } catch (...) { std::cout << "Exception: unknown" << std::endl; } }