added charuco board generation to gen_pattern.py by vovka643 · Pull Request #23363 · opencv/opencv

vovka643 · 2023-03-16T09:05:09Z

added charuco board generation in gen_pattern.py
moved aruco_dict_utils.cpp to samples from opencv_contrib (opencv/opencv_contrib#3464)

Pull Request Readiness Checklist

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

I agree to contribute to the project under Apache 2 License.
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
The PR is proposed to the proper branch
There is a reference to the original bug report and related work
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

doc/pattern_tools/gen_pattern.py

modules/objdetect/misc/python/test/test_charuco_board.py

doc/pattern_tools/gen_pattern.py

… for test

asmorkalov · 2023-04-02T14:26:50Z

OpenCV supports gziped files with cv::FileStorage. You can compress them with gzip or export as json.gz. I'll check and return later with solution.

doc/pattern_tools/gen_pattern.py

doc/tutorials/calib3d/camera_calibration_pattern/camera_calibration_pattern.markdown

asmorkalov · 2023-04-06T12:15:22Z

General remark on text: ChAruco is abbreviation. Please presume the original spelling in tutorial text and printed messages.

modules/objdetect/misc/python/test/test_charuco_board.py

modules/objdetect/requirements.txt

doc/tutorials/calib3d/camera_calibration_pattern/camera_calibration_pattern.markdown

asmorkalov · 2023-04-10T10:50:58Z

I fixed the command in the tutorial to generate board and get cropped image.
Command line: python3.8 gen_pattern.py -o charuco_board.svg --rows 7 --columns 5 -T charuco_board --square_size 50 --aruco_marker_size 30 -f DICT_5X5_100.json.gz
SVG attached.

doc/tutorials/calib3d/camera_calibration_pattern/camera_calibration_pattern.markdown

asmorkalov · 2023-04-18T06:25:26Z

======================================================================
ERROR: test_charuco_board (unittest.loader._FailedTest)
----------------------------------------------------------------------
ImportError: Failed to import test module: test_charuco_board
Traceback (most recent call last):
  File "/usr/lib/python3.5/unittest/loader.py", line 428, in _find_test_path
    module = self._get_module_from_name(name)
  File "/usr/lib/python3.5/unittest/loader.py", line 369, in _get_module_from_name
    __import__(name)
  File "/build/precommit_linux64/4.x/opencv/modules/objdetect/misc/python/test/test_charuco_board.py", line 10, in <module>
    import gen_pattern
ImportError: No module named 'gen_pattern'


----------------------------------------------------------------------
Ran 270 tests in 58.998s

modules/objdetect/misc/python/test/test_charuco_board.py

asmorkalov · 2023-04-20T06:41:43Z

doc/pattern_tools/gen_pattern.py:189: trailing whitespace.
+        marker_id = 0

asmorkalov · 2023-04-26T09:47:09Z

@vovka643 I fixed predefined dictionaries search path, but the new tests still fail. The generated template (png) does not look correct. Also path to files are messed in tests.

…o 4.x_generate_charuco

doc/pattern_tools/test_charuco_board.py

asmorkalov · 2023-05-15T09:55:04Z

doc/pattern_tools/test_charuco_board.py

+            np.testing.assert_allclose(markerCorners_svg, markerCorners_cv, 0.1, 0.1)
+            np.testing.assert_allclose(markerIds_svg, markerIds_cv, 0.1, 0.1)


The files in tmp are not removed by test. It will produce a lot of garbage on CI. Please take a look on test for aruco:

opencv/modules/objdetect/misc/python/test/test_objdetect_aruco.py

Line 189 in a8d3d1f

def test_write_read_dictionary(self):

. It removes temporary files every time.

samples/cpp/aruco_dict_utils.cpp

asmorkalov · 2023-05-17T09:41:01Z

doc/pattern_tools/test_charuco_board.py

+        finally:
+            if os.path.exists(filesvg):
+                os.remove(filesvg)    
+            if os.path.exists(filepng):
+                os.remove(filepng)  


It removes files for the last loop iteration, but not all temporary files.

doc/pattern_tools/test_charuco_board.py

asmorkalov

👍

Added charuco board generation to gen_pattern.py opencv#23363 added charuco board generation in gen_pattern.py moved aruco_dict_utils.cpp to samples from opencv_contrib (opencv/opencv_contrib#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

added charuco board generation

d2dcbf5

asmorkalov requested changes Mar 17, 2023

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asmorkalov self-assigned this Mar 17, 2023

asmorkalov added the category: documentation Documentation fix or update label Mar 17, 2023

vovka643 added 2 commits March 20, 2023 23:26

added test, fixed some small bugs, added few checks

2fbc1db

changed .npz file format to .json file format of aruco dictionary file

59e4569

asmorkalov requested changes Mar 22, 2023

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vovka643 added 4 commits March 27, 2023 19:00

changed aruco dict file format

a329167

move aruco module from opencv_contrib

64ccb41

moved aruco_dict_utils to samples folder

62db700

added documentation how to generate charuco board

3f43109

vovka643 marked this pull request as ready for review March 30, 2023 10:20

vovka643 added 4 commits March 30, 2023 21:42

fix test error

5cfe42c

added tempfile to test

955eee2

fix small errors

54383a8

delete test for charuco board, it needs very special python libraries…

f38bd5c

… for test

vovka643 added 2 commits April 4, 2023 12:33

added requirements

6b35c37

changed aruco dicts to arxives of aruco dicts

c3d2468

asmorkalov changed the title ~~added charuco board generation~~ added charuco board generation to gen_pattern.py Apr 6, 2023

asmorkalov requested changes Apr 6, 2023

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asmorkalov requested changes Apr 10, 2023

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asmorkalov requested changes Apr 10, 2023

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asmorkalov requested changes Apr 10, 2023

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asmorkalov added this to the 4.8.0 milestone Apr 11, 2023

fix few small errors

d915517

asmorkalov mentioned this pull request Apr 12, 2023

moved aruco_dict_utils.cpp from opencv_contrib to opencv opencv/opencv_contrib#3464

Merged

6 tasks

asmorkalov reviewed Apr 12, 2023

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asmorkalov mentioned this pull request Apr 18, 2023

Add charuco pattern into calibration.cpp #23486

Merged

asmorkalov self-requested a review April 19, 2023 07:42

asmorkalov reviewed Apr 19, 2023

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asmorkalov self-requested a review April 19, 2023 14:39

asmorkalov mentioned this pull request Apr 19, 2023

CharucoDetector::detectBoard returns garbadge in case of board parameters mismatch #23517

Closed

4 tasks

fix few errors

52be5fe

vovka643 and others added 3 commits April 24, 2023 18:36

draft

9fe6026

Extracted gen_pattern.py test as dedicated test entity for CI.

f133114

Fixed path to pre-defined dictionaries.

d370b88

vovka643 added 2 commits May 11, 2023 12:51

Merge branch '4.x_generate_charuco' of github.com:vovka643/opencv int…

2bac9db

…o 4.x_generate_charuco

fixed test. Changed norm Hamming function in aruco_dict_utils.cpp

5af576f

asmorkalov reviewed May 15, 2023

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AleksandrPanov reviewed May 15, 2023

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asmorkalov mentioned this pull request May 16, 2023

Add firstMarker to Charuco Board generator opencv/opencv_contrib#3492

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6 tasks

fix few small errors

b4fa64b

asmorkalov self-requested a review May 17, 2023 09:42

asmorkalov requested changes May 17, 2023

View reviewed changes

asmorkalov and others added 2 commits May 17, 2023 14:17

Removed charuco cases with too small and too large markers.

bd90dec

Fix removing temporary files in test_charuco_board.py

a705409

asmorkalov approved these changes May 18, 2023

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asmorkalov added 3 commits May 18, 2023 15:29

Test cleanup.

8a30007

Build warning fixes for Windows.

2bb21d9

Code review fixes.

899a25d

asmorkalov merged commit 9931da7 into opencv:4.x May 19, 2023

asmorkalov mentioned this pull request May 31, 2023

(5.x) Merge 4.x #23718

Merged

		np.testing.assert_allclose(markerCorners_svg, markerCorners_cv, 0.1, 0.1)
		np.testing.assert_allclose(markerIds_svg, markerIds_cv, 0.1, 0.1)

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vovka643 commented Mar 16, 2023 •

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