how to generate a ChAruco board calibration?

Question

how do I generate a ChAruco board calibration? I tried to find an existing board in Google Search but I couldn't find it.

Thanks, Carlos

Answer 1

Use cv::aruco::CharucoBoard::draw as described in the CharucoBoard Class Reference to create an image and then imwrite to write the image to a file.

Answer 2

You can generate ChArUco patterns and save them as vector graphics (PDF) here: https://calib.io/pages/camera-calibration-pattern-generator That way you get the best accuracy in the print possible.

Answer 3

There will be a built-in pattern_generator in opencv_contrib that place at folder: opencv_contrib/modules/aruco/misc/pattern_generator/

You can use it to generate your marker as vector graphics and print it out.

https://github.com/opencv/opencv_contrib/pull/2250

PS. LOL, I put the tool to official helper scripts/tool, now you guys have no reason to delete my answer XDDD....

Answer 4

Here is a C++ example on how to create and save a Charuco board as an image:

#include <opencv2/aruco/charuco.hpp>
#include <opencv2/imgcodecs.hpp>

int main(void)
{
  cv::Mat m(700, 500, CV_8UC1);
  cv::Ptr< cv::aruco::Dictionary > dict = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
  cv::Ptr< cv::aruco::CharucoBoard > charuco = cv::aruco::CharucoBoard::create(7, 5, 0.04, 0.02, dict);
  charuco->draw(cv::Size(700, 500), m, 0, 1);
  cv::imwrite("board.png", m);
  return 0;
}

Answer 5

Charuco boards (svg format) can be generated here: MarkrMakr

Answer 6

I have been generating charuco from https://www.deepen.ai/calibrate. They have the option to save it as pdf or png from there. It has a target generator which generates charuco boards.