Merge pull request #25378 from AleksandrPanov:move_charuco_tutorial

Move Charuco/Calib tutorials and samples to main repo #25378 Merge with https://github.com/opencv/opencv_contrib/pull/3708 Move Charuco/Calib tutorials and samples to main repo: - [x] update/fix charuco_detection.markdown and samples - [x] update/fix charuco_diamond_detection.markdown and samples - [x] update/fix aruco_calibration.markdown and samples - [x] update/fix aruco_faq.markdown - [x] move tutorials, samples and tests to main repo - [x] remove old tutorials, samples and tests from contrib ### 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. - [ ] The feature is well documented and sample code can be built with the project CMake
2026-07-25 21:33:04 +04:00 · 2024-04-16 12:14:33 +03:00
parent 4fb0541916
commit e2621f128e
33 changed files with 1947 additions and 137 deletions
@@ -0,0 +1,72 @@
+#include <opencv2/highgui.hpp>
+#include <opencv2/objdetect/charuco_detector.hpp>
+#include <vector>
+#include <iostream>
+#include "aruco_samples_utility.hpp"
+
+using namespace std;
+using namespace cv;
+
+namespace {
+const char* about = "Create a ChArUco marker image";
+const char* keys  =
+        "{@outfile |   res.png | Output image }"
+        "{sl       |   100     | Square side length (in pixels) }"
+        "{ml       |   60      | Marker side length (in pixels) }"
+        "{cd       |           | Input file with custom dictionary }"
+        "{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}"
+        "{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 }"
+        "{si       |   false   | show generated image }";
+}
+
+int main(int argc, char *argv[]) {
+    CommandLineParser parser(argc, argv, keys);
+    parser.about(about);
+
+    int squareLength = parser.get<int>("sl");
+    int markerLength = parser.get<int>("ml");
+    string idsString = parser.get<string>("ids");
+    int margins = parser.get<int>("m");
+    int borderBits = parser.get<int>("bb");
+    bool showImage = parser.get<bool>("si");
+    string out = parser.get<string>(0);
+    aruco::Dictionary dictionary = readDictionatyFromCommandLine(parser);
+
+    if(!parser.check()) {
+        parser.printErrors();
+        return 0;
+    }
+
+    istringstream ss(idsString);
+    vector<string> splittedIds;
+    string token;
+    while(getline(ss, token, ','))
+        splittedIds.push_back(token);
+    if(splittedIds.size() < 4) {
+        throw std::runtime_error("Incorrect ids format\n");
+    }
+    Vec4i ids;
+    for(int i = 0; i < 4; i++)
+        ids[i] = atoi(splittedIds[i].c_str());
+
+    //! [generate_diamond]
+    vector<int> diamondIds = {ids[0], ids[1], ids[2], ids[3]};
+    aruco::CharucoBoard charucoBoard(Size(3, 3), (float)squareLength, (float)markerLength, dictionary, diamondIds);
+    Mat markerImg;
+    charucoBoard.generateImage(Size(3*squareLength + 2*margins, 3*squareLength + 2*margins), markerImg, margins, borderBits);
+    //! [generate_diamond]
+
+    if(showImage) {
+        imshow("board", markerImg);
+        waitKey(0);
+    }
+
+    if (out != "")
+        imwrite(out, markerImg);
+    return 0;
+}