【AR应用开发之二】定位

开发AR应用，不仅需要三维投影方面的原创，也需要二维图像中位姿定位。
今天，我们只是实现了位姿定位功能，主要分两部分，一部分：生成标定物；第二部分：检测标定物，计算位姿。

生成标定物源码

1. 参数设置

"{@outfile |a.jpg | Output image }"
"{w        |1       | Number of markers in X direction }"
"{h        |1       | Number of markers in Y direction }"
"{l        |64       | Marker side length (in pixels) }"
"{s        |1       | Separation between two consecutive markers in the grid (in pixels)}"
"{d        |2       | 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}&