SampleMarkerCreator.cpp

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;
}
}

ar_track_alvar
Author(s): Scott Niekum
autogenerated on Thu Jun 6 2019 19:27:23