aruco_create_markermap.cpp

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/*****************************
Copyright 2016 Rafael Muñoz Salinas. All rights reserved.

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      of conditions and the following disclaimer in the documentation and/or other materials
      provided with the distribution.

THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED
WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
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********************************/

//Creation of MarkerMap to be printed in a piece of paper. This is the old boards in Aruco 1.x.x

#include <string>
#include "markermap.h"
#include <cstdio>
#include "dictionary.h"
#include <opencv2/highgui/highgui.hpp>
class CmdLineParser{int argc; char **argv; public: CmdLineParser(int _argc,char **_argv):argc(_argc),argv(_argv){}  bool operator[] ( string param ) {int idx=-1;  for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i;    return ( idx!=-1 ) ;    } string operator()(string param,string defvalue="-1"){int idx=-1;    for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i; if ( idx==-1 ) return defvalue;   else  return ( argv[  idx+1] ); }};

using namespace std;
using namespace cv;
int main(int argc, char **argv) {
    try {
        CmdLineParser cml(argc,argv);
        if (argc < 4 || cml["-h"]) {
            cerr << "Usage: X:Y Image.png Configuration.yml [-d dictionary_name (ARUCO_MIP_36h12 default)] [-s <pixSize>] [-t <Type>(0: panel,1: chessboard )] [-r rand_seed] [-i interMarkerDistance(0,1)]" << endl;
            cerr<<"\tDictionaries: "; for(auto dict:aruco::Dictionary::getDicTypes())    cerr<<dict<<" ";cerr<<endl;
            return -1;
        }
        int XSize, YSize;
        if (sscanf(argv[1], "%d:%d", &XSize, &YSize) != 2) {
            cerr << "Incorrect X:Y specification" << endl;
            return -1;
        }

        auto Dict=aruco::Dictionary::loadPredefined(cml("-d","ARUCO_MIP_36h12"));
        int pixSize = stoi(cml("-s","500"));
        int typeMarkerMap = stoi(cml("-t","0"));
        int rand_seed = stoi(cml("-r","0"));
        float interMarkerDistance = stof(cml("-i","0.2"));

        if ((interMarkerDistance > 1.f) || (interMarkerDistance < 0.f)) {
            cerr << "Incorrect interMarkerDistance '" << interMarkerDistance << "' -- needs to be [0,1]" << endl;
            return -1;
        }

        //get the list of ids
        std::vector<int> ids;
        for(auto d:Dict.getMapCode()) ids.push_back(d.second);
        //random shuffle
        srand(rand_seed);
        std::random_shuffle(ids.begin(),ids.end());
        //take the required ones
        ids.resize(XSize*YSize);
        aruco::MarkerMap BInfo=Dict.createMarkerMap(Size(XSize, YSize), pixSize, pixSize * interMarkerDistance,ids,typeMarkerMap==1);
        //create a printable image to save
        cv::Mat MarkerMapImage=BInfo.getImage();

        //save
        BInfo.saveToFile(argv[3]);
       imwrite(argv[2], MarkerMapImage);

    } catch (std::exception &ex) {
        cout << ex.what() << endl;
    }
}