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Merge pull request #23363 from vovka643:4.x_generate_charuco

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Added charuco board generation to gen_pattern.py #23363

added charuco board generation in gen_pattern.py
moved aruco_dict_utils.cpp to samples from opencv_contrib (https://github.com/opencv/opencv_contrib/pull/3464)

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake
This commit is contained in:
Vladimir Ponomarev
2023-05-19 20:25:59 +03:00
committed by GitHub
parent f2311d1bfd
commit 9931da772d
29 changed files with 629 additions and 14 deletions
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doc/tutorials/calib3d/camera_calibration_pattern/camera_calibration_pattern.markdown
+15 -7
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@@ -17,6 +17,9 @@ You can find a chessboard pattern in https://github.com/opencv/opencv/blob/4.x/d
You can find a circleboard pattern in https://github.com/opencv/opencv/blob/4.x/doc/acircles_pattern.png
You can find a ChAruco board pattern in https://github.com/opencv/opencv/blob/4.x/doc/charuco_board_pattern.png
(7X5 ChAruco board, square size: 30 mm , marker size: 15 mm, aruco dict: DICT_5X5_100, page width: 210 mm, page height: 297 mm)
Create your own pattern
---------------
@@ -28,7 +31,7 @@ create a checkerboard pattern in file chessboard.svg with 9 rows, 6 columns and
python gen_pattern.py -o chessboard.svg --rows 9 --columns 6 --type checkerboard --square_size 20
create a circle board pattern in file circleboard.svg with 7 rows, 5 columns and a radius of 15mm:
create a circle board pattern in file circleboard.svg with 7 rows, 5 columns and a radius of 15 mm:
python gen_pattern.py -o circleboard.svg --rows 7 --columns 5 --type circles --square_size 15
@@ -40,13 +43,18 @@ create a radon checkerboard for findChessboardCornersSB() with markers in (7 4),
python gen_pattern.py -o radon_checkerboard.svg --rows 10 --columns 15 --type radon_checkerboard -s 12.1 -m 7 4 7 5 8 5
create a ChAruco board pattern in charuco_board.svg with 7 rows, 5 columns, square size 30 mm, aruco marker size 15 mm and using DICT_5X5_100 as dictionary for aruco markers (it contains in DICT_ARUCO.json file):
python gen_pattern.py -o charuco_board.svg --rows 7 --columns 5 -T charuco_board --square_size 30 --marker_size 15 -f DICT_5X5_100.json.gz
If you want to change unit use -u option (mm inches, px, m)
If you want to change page size use -w and -h options
@cond HAVE_opencv_aruco
If you want to create a ChArUco board read @ref tutorial_charuco_detection "tutorial Detection of ChArUco Corners" in opencv_contrib tutorial.
@endcond
@cond !HAVE_opencv_aruco
If you want to create a ChArUco board read tutorial Detection of ChArUco Corners in opencv_contrib tutorial.
@endcond
If you want to use your own dictionary for ChAruco board your should write name of file with your dictionary. For example
python gen_pattern.py -o charuco_board.svg --rows 7 --columns 5 -T charuco_board -f my_dictionary.json
You can generate your dictionary in my_dictionary.json file with number of markers 30 and markers size 5 bits by using opencv/samples/cpp/aruco_dict_utils.cpp.
bin/example_cpp_aruco_dict_utils.exe my_dict.json -nMarkers=30 -markerSize=5