dict_type = aruco.DICT_6X6_250
squares = (5, 7)
square_length_mm = 20.0
marker_length_mm = 10.0
aruco_dict = aruco.getPredefinedDictionary(dict_type)

board0 = aruco.CharucoBoard(squares, square_length_mm,
    marker_length_mm, aruco_dict, np.arange(17)) # There are 17 white squares, provide 17 markers with ids [0..16]
detector = aruco.CharucoDetector(board0)
charuco_corners, charuco_ids, marker_corners, marker_ids = detector.detectBoard(image)
aruco.drawDetectedCornersCharuco(image, charuco_corners, charuco_ids, (255, 0, 0))

board1 = aruco.CharucoBoard(squares, square_length_mm,
    marker_length_mm, aruco_dict, np.arange(17) + 17) # 17 markers with ids  [17..33]
detector = aruco.CharucoDetector(board1)
charuco_corners, charuco_ids, marker_corners, marker_ids = detector.detectBoard(image)
aruco.drawDetectedCornersCharuco(image, charuco_corners, charuco_ids, (0, 255, 0))

import numpy as np
import cv2
import cv2.aruco as aruco

if __name__ == '__main__':

    # Load image
    image = cv2.imread('image.png')

    # Generate Aruco boards
    dict_type = aruco.DICT_6X6_250
    squares = (5, 7)
    square_length_mm = 20.0
    marker_length_mm = 10.0
    aruco_dict = aruco.getPredefinedDictionary(dict_type)
    board0 = aruco.CharucoBoard(squares, square_length_mm,
        marker_length_mm, aruco_dict, np.arange(17))
    board1 = aruco.CharucoBoard(squares, square_length_mm,
        marker_length_mm, aruco_dict, np.arange(17) + 17)

    print(f'Running OpenCV {cv2.__version__}')

    detector = aruco.CharucoDetector(board0)
    charuco_corners, charuco_ids, marker_corners, marker_ids = detector.detectBoard(image)
    print('board0')
    if charuco_ids is None:
        print('  no charuco ids')
    else:
        print(f'  charuco ids {np.min(charuco_ids)}..{np.max(charuco_ids)} ({len(charuco_ids)})')
        aruco.drawDetectedCornersCharuco(image, charuco_corners, charuco_ids, (255, 0, 0))
    print(f'  marker ids {np.min(marker_ids)}..{np.max(marker_ids)} ({len(marker_ids)})')

    detector = aruco.CharucoDetector(board1)
    charuco_corners, charuco_ids, marker_corners, marker_ids = detector.detectBoard(image)
    print('board1')
    if charuco_ids is None:
        print('  no charuco ids')
    else:
        print(f'  charuco ids {np.min(charuco_ids)}..{np.max(charuco_ids)} ({len(charuco_ids)})')
        aruco.drawDetectedCornersCharuco(image, charuco_corners, charuco_ids, (0, 255, 0))
    print(f'  marker ids {np.min(marker_ids)}..{np.max(marker_ids)} ({len(marker_ids)})')

    cv2.imshow(f'charuco ids with OpenCV {cv2.__version__}', image)
    cv2.waitKey(0)
    cv2.destroyAllWindows()