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Merge branch 4.x

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This commit is contained in:
Alexander Smorkalov
2026-05-25 16:29:45 +03:00
parent c2594b41bf e0d604378f
commit d8263a9899
54 changed files with 523 additions and 414 deletions
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samples/cpp/aruco_dict_utils.cpp
+5 -3
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@@ -260,7 +260,7 @@ const char* keys =
"DICT_6X6_50, DICT_6X6_100, DICT_6X6_250, DICT_6X6_1000, DICT_7X7_50,"
"DICT_7X7_100, DICT_7X7_250, DICT_7X7_1000, DICT_ARUCO_ORIGINAL,"
"DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10,"
"DICT_APRILTAG_36h11}"
"DICT_APRILTAG_36h11, DICT_ARUCO_MIP_36h12}"
"{nMarkers | | Number of markers in the dictionary }"
"{markerSize | | Marker size }"
"{cd | | Input file with custom dictionary }";
@@ -309,6 +309,7 @@ int main(int argc, char *argv[])
else if (arucoDictName == "DICT_APRILTAG_25h9") { arucoDict = cv::aruco::DICT_APRILTAG_25h9; }
else if (arucoDictName == "DICT_APRILTAG_36h10") { arucoDict = cv::aruco::DICT_APRILTAG_36h10; }
else if (arucoDictName == "DICT_APRILTAG_36h11") { arucoDict = cv::aruco::DICT_APRILTAG_36h11; }
else if (arucoDictName == "DICT_ARUCO_MIP_36h12") { arucoDict = cv::aruco::DICT_ARUCO_MIP_36h12; }
else {
cout << "incorrect name of aruco dictionary \n";
return 1;
@@ -328,13 +329,14 @@ int main(int argc, char *argv[])
cerr << "Dictionary not specified" << endl;
return 0;
}
if (!outputFile.empty() && nMarkers > 0 && markerSize > 0)
{
FileStorage fs(outputFile, FileStorage::WRITE);
if (checkFlippedMarkers)
dictionary = generateCustomAsymmetricDictionary(nMarkers, markerSize, aruco::Dictionary(), 0);
dictionary = generateCustomAsymmetricDictionary(nMarkers, markerSize, dictionary, 0);
else
dictionary = aruco::extendDictionary(nMarkers, markerSize, aruco::Dictionary(), 0);
dictionary = aruco::extendDictionary(nMarkers, markerSize, dictionary, 0);
dictionary.writeDictionary(fs);
}
samples/cpp/calibration.cpp
+2 -1
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@@ -67,7 +67,7 @@ static void help(char** argv)
"DICT_4X4_1000, DICT_5X5_50, DICT_5X5_100, DICT_5X5_250, DICT_5X5_1000, "
"DICT_6X6_50, DICT_6X6_100, DICT_6X6_250, DICT_6X6_1000, DICT_7X7_50, "
"DICT_7X7_100, DICT_7X7_250, DICT_7X7_1000, DICT_ARUCO_ORIGINAL, "
"DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10, DICT_APRILTAG_36h11\n"
"DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10, DICT_APRILTAG_36h11, DICT_ARUCO_MIP_36h12\n"
" [-adf=<dictFilename>] # Custom aruco dictionary file for ChArUco board\n"
" [-o=<out_camera_params>] # the output filename for intrinsic [and extrinsic] parameters\n"
" [-op] # write detected feature points\n"
@@ -459,6 +459,7 @@ int main( int argc, char** argv )
else if (arucoDictName == "DICT_APRILTAG_25h9") { arucoDict = cv::aruco::DICT_APRILTAG_25h9; }
else if (arucoDictName == "DICT_APRILTAG_36h10") { arucoDict = cv::aruco::DICT_APRILTAG_36h10; }
else if (arucoDictName == "DICT_APRILTAG_36h11") { arucoDict = cv::aruco::DICT_APRILTAG_36h11; }
else if (arucoDictName == "DICT_ARUCO_MIP_36h12") { arucoDict = cv::aruco::DICT_ARUCO_MIP_36h12; }
else {
cout << "Incorrect Aruco dictionary name " << arucoDictName << std::endl;
return 1;
samples/cpp/stereo_calib.cpp
+2 -1
View File
@@ -60,7 +60,7 @@ static int print_help(char** argv)
<< "DICT_4X4_1000, DICT_5X5_50, DICT_5X5_100, DICT_5X5_250, DICT_5X5_1000, "
<< "DICT_6X6_50, DICT_6X6_100, DICT_6X6_250, DICT_6X6_1000, DICT_7X7_50, "
<< "DICT_7X7_100, DICT_7X7_250, DICT_7X7_1000, DICT_ARUCO_ORIGINAL, "
<< "DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10, DICT_APRILTAG_36h11\n";
<< "DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10, DICT_APRILTAG_36h11, DICT_ARUCO_MIP_36h12\n";
return 0;
}
@@ -437,6 +437,7 @@ int main(int argc, char** argv)
else if (arucoDictName == "DICT_APRILTAG_25h9") { arucoDict = cv::aruco::DICT_APRILTAG_25h9; }
else if (arucoDictName == "DICT_APRILTAG_36h10") { arucoDict = cv::aruco::DICT_APRILTAG_36h10; }
else if (arucoDictName == "DICT_APRILTAG_36h11") { arucoDict = cv::aruco::DICT_APRILTAG_36h11; }
else if (arucoDictName == "DICT_ARUCO_MIP_36h12") { arucoDict = cv::aruco::DICT_ARUCO_MIP_36h12; }
else {
cout << "incorrect name of aruco dictionary \n";
return 1;
samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp
+1
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@@ -340,6 +340,7 @@ int main(int argc, char* argv[])
else if (s.arucoDictName == "DICT_APRILTAG_25h9") { arucoDict = cv::aruco::DICT_APRILTAG_25h9; }
else if (s.arucoDictName == "DICT_APRILTAG_36h10") { arucoDict = cv::aruco::DICT_APRILTAG_36h10; }
else if (s.arucoDictName == "DICT_APRILTAG_36h11") { arucoDict = cv::aruco::DICT_APRILTAG_36h11; }
else if (s.arucoDictName == "DICT_ARUCO_MIP_36h12") { arucoDict = cv::aruco::DICT_ARUCO_MIP_36h12; }
else {
cout << "incorrect name of aruco dictionary \n";
return 1;
samples/cpp/tutorial_code/objectDetection/calibrate_camera.cpp
+2 -1
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@@ -25,7 +25,8 @@ const char* keys =
"{d | | 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}"
"DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL=16,"
"DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
"{cd | | Input file with custom dictionary }"
"{@outfile |cam.yml| Output file with calibrated camera parameters }"
"{v | | Input from video file, if ommited, input comes from camera }"
samples/cpp/tutorial_code/objectDetection/calibrate_camera_charuco.cpp
+2 -1
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@@ -23,7 +23,8 @@ const char* keys =
"{d | | 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}"
"DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL=16,"
"DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
"{cd | | Input file with custom dictionary }"
"{@outfile |cam.yml| Output file with calibrated camera parameters }"
"{v | | Input from video file, if ommited, input comes from camera }"
samples/cpp/tutorial_code/objectDetection/create_board.cpp
+2 -1
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@@ -16,7 +16,8 @@ const char* keys =
"{d | | 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}"
"DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL=16,"
"DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
"{cd | | Input file with custom dictionary }"
"{m | | Margins size (in pixels). Default is marker separation (-s) }"
"{bb | 1 | Number of bits in marker borders }"
samples/cpp/tutorial_code/objectDetection/create_board_charuco.cpp
+2 -1
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@@ -17,7 +17,8 @@ const char* keys =
"{d | | 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}"
"DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL=16,"
"DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
"{cd | | Input file with custom dictionary }"
"{m | | Margins size (in pixels). Default is (squareLength-markerLength) }"
"{bb | 1 | Number of bits in marker borders }"
samples/cpp/tutorial_code/objectDetection/create_diamond.cpp
+2 -1
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@@ -17,7 +17,8 @@ const char* keys =
"{d | 10 | 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}"
"DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL=16,"
"DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
"{ids |0, 1, 2, 3 | Four ids for the ChArUco marker: id1,id2,id3,id4 }"
"{m | 0 | Margins size (in pixels) }"
"{bb | 1 | Number of bits in marker borders }"
samples/cpp/tutorial_code/objectDetection/create_marker.cpp
+3 -2
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@@ -6,7 +6,7 @@
using namespace cv;
namespace {
const char* about = "Create an ArUco marker image";
const char* about = "Create an ArUco/AprilTag marker image";
//! [aruco_create_markers_keys]
const char* keys =
@@ -14,7 +14,8 @@ const char* keys =
"{d | 0 | 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}"
"DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL=16,"
"DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
"{cd | | Input file with custom dictionary }"
"{id | 0 | Marker id in the dictionary }"
"{ms | 200 | Marker size in pixels }"
samples/cpp/tutorial_code/objectDetection/detect_board.cpp
+2 -1
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@@ -19,7 +19,8 @@ const char* keys =
"{d | | 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}"
"DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL=16,"
"DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
"{cd | | Input file with custom dictionary }"
"{c | | Output file with calibrated camera parameters }"
"{v | | Input from video or image file, if omitted, input comes from camera }"
samples/cpp/tutorial_code/objectDetection/detect_board_charuco.cpp
+2 -1
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@@ -19,7 +19,8 @@ const char* keys =
"{d | | 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}"
"DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL=16,"
"DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
"{cd | | Input file with custom dictionary }"
"{c | | Output file with calibrated camera parameters }"
"{v | | Input from video or image file, if ommited, input comes from camera }"
samples/cpp/tutorial_code/objectDetection/detect_diamonds.cpp
+2 -1
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@@ -16,7 +16,8 @@ const char* keys =
"{d | 10 | 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}"
"DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL=16,"
"DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
"{cd | | Input file with custom dictionary }"
"{c | | Output file with calibrated camera parameters }"
"{as | | Automatic scale. The provided number is multiplied by the last"
samples/cpp/tutorial_code/objectDetection/detect_markers.cpp
+1 -1
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@@ -15,7 +15,7 @@ const char* keys =
"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,"
"DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20}"
"DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
"{cd | | Input file with custom dictionary }"
"{v | | Input from video or image file, if ommited, input comes from camera }"
"{ci | 0 | Camera id if input doesnt come from video (-v) }"