Create charuco boards with any opencv version

apps/create_charuco_boards/src/create_charuco_boards.cpp

@@ -1,10 +1,121 @@
 #include <filesystem>
 #include <iomanip>
+#include <numeric>
 #include <stdio.h>
 
 #include <opencv2/aruco/charuco.hpp>
 #include <opencv2/opencv.hpp>
 
+#if (defined(CV_VERSION_MAJOR) && CV_VERSION_MAJOR <= 4 &&                     \
+     defined(CV_VERSION_MINOR) && CV_VERSION_MINOR < 7)
+
+std::vector<cv::Mat>
+createCharucoBoards(const unsigned int num_board,
+                    const std::vector<int> &number_x_square_per_board,
+                    const std::vector<int> &number_y_square_per_board,
+                    const float length_square, const float length_marker,
+                    const std::vector<int> &resolution_x_per_board,
+                    const std::vector<int> &resolution_y_per_board) {
+  std::vector<cv::Mat> charuco_boards_images;
+  charuco_boards_images.reserve(num_board);
+  cv::Ptr<cv::aruco::Dictionary> dict =
+      cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_1000);
+  std::vector<cv::Ptr<cv::aruco::CharucoBoard>> charuco_boards;
+  charuco_boards.reserve(num_board);
+  int offset_count = 0;
+  for (std::size_t i = 0; i < num_board; i++) {
+    // declare the board
+    cv::Ptr<cv::aruco::CharucoBoard> charuco = cv::aruco::CharucoBoard::create(
+        number_x_square_per_board[i], number_y_square_per_board[i],
+        length_square, length_marker, dict);
+    // If it is the first board then just use the standard idx
+    if (i != 0) {
+      int id_offset = charuco_boards[i - 1]->ids.size() + offset_count;
+      offset_count = id_offset;
+      for (auto &id : charuco->ids) {
+        id += id_offset;
+      }
+    }
+    charuco_boards.push_back(charuco);
+
+    // create the charuco board image
+    cv::Mat board_image;
+    charuco_boards[i]->draw(
+        cv::Size(resolution_x_per_board[i], resolution_y_per_board[i]),
+        board_image, 10, 1);
+
+    charuco_boards_images.push_back(board_image);
+  }
+  return charuco_boards_images;
+}
+
+#else
+
+std::vector<cv::Mat>
+createCharucoBoards(const unsigned int num_board,
+                    const std::vector<int> &number_x_square_per_board,
+                    const std::vector<int> &number_y_square_per_board,
+                    const float length_square, const float length_marker,
+                    const std::vector<int> &resolution_x_per_board,
+                    const std::vector<int> &resolution_y_per_board) {
+  std::vector<cv::Mat> charuco_boards_images;
+  charuco_boards_images.reserve(num_board);
+  const cv::aruco::Dictionary dict =
+      cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_1000);
+  std::vector<cv::aruco::CharucoBoard> charuco_boards;
+  charuco_boards.reserve(num_board);
+  int offset_count = 0;
+  for (std::size_t i = 0; i < num_board; i++) {
+    if (i == 0) {
+      // if it is the first board then just use the standard idx
+      cv::aruco::CharucoBoard charuco = cv::aruco::CharucoBoard(
+          cv::Size(number_x_square_per_board[i], number_y_square_per_board[i]),
+          length_square, length_marker, dict);
+
+      charuco_boards.push_back(charuco);
+    } else {
+      int id_offset = charuco_boards[i - 1].getIds().size() + offset_count;
+      offset_count = id_offset;
+
+      const std::size_t num_idxs = charuco_boards[i - 1].getIds().size();
+      std::vector<int> cur_ids(num_idxs);
+      std::iota(cur_ids.begin(), cur_ids.end(), id_offset);
+
+      cv::aruco::CharucoBoard charuco = cv::aruco::CharucoBoard(
+          cv::Size(number_x_square_per_board[i], number_y_square_per_board[i]),
+          length_square, length_marker, dict, cur_ids);
+
+      charuco_boards.push_back(charuco);
+    }
+
+    // create the charuco board image
+    cv::Mat board_image;
+    charuco_boards[i].generateImage(
+        cv::Size(resolution_x_per_board[i], resolution_y_per_board[i]),
+        board_image, 10, 1);
+
+    charuco_boards_images.push_back(board_image);
+  }
+
+  return charuco_boards_images;
+}
+#endif
+
+void saveBoards(const std::vector<cv::Mat> boards) {
+  for (std::size_t board_idx = 0u; board_idx < boards.size(); ++board_idx) {
+    // Save the markers
+    std::ostringstream ss;
+    ss << std::setw(3) << std::setfill('0') << board_idx;
+    std::string s1 = ss.str();
+    std::string charname = "charuco_board_";
+    std::string extname = ".bmp";
+    std::string savename = charname + s1;
+    savename += extname;
+    std::cout << "save_name " << savename << std::endl;
+    cv::imwrite(savename, boards[board_idx]);
+  }
+}
+
 int main(int argc, char *argv[]) {
 
   if (argc != 2) {
@@ -39,7 +150,7 @@ int main(int argc, char *argv[]) {
 
   fs["number_board"] >> NbBoard;
   assert(NbBoard > 0);
-  unsigned int num_board = static_cast<int>(NbBoard);
+  const unsigned int num_board = static_cast<int>(NbBoard);
 
   fs["square_size_per_board"] >> square_size_per_board;
   fs["number_x_square_per_board"] >> number_x_square_per_board;
@@ -59,44 +170,11 @@ int main(int argc, char *argv[]) {
     }
   }
 
-  // Create the charuco
-  cv::Ptr<cv::aruco::Dictionary> dict =
-      cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_1000);
-  std::vector<cv::Ptr<cv::aruco::CharucoBoard>> charucoBoards;
-  int offset_count = 0;
-  for (std::size_t i = 0; i < num_board; i++) {
-    // declare the board
-    cv::Ptr<cv::aruco::CharucoBoard> charuco = cv::aruco::CharucoBoard::create(
-        number_x_square_per_board[i], number_y_square_per_board[i],
-        length_square, length_marker, dict);
-    // If it is the first board then just use the standard idx
-    if (i != 0) {
-      int id_offset = charucoBoards[i - 1]->ids.size() + offset_count;
-      offset_count = id_offset;
-      for (auto &id : charuco->ids) {
-        id += id_offset;
-      }
-    }
-    // create the charuco board
-    charucoBoards.push_back(charuco);
-    cv::Mat boardImage;
-    charucoBoards[i]->draw(
-        cv::Size(resolution_x_per_board[i], resolution_y_per_board[i]),
-        boardImage, 10, 1);
-    // Display marker
-    // cv::imshow("My Charuco", boardImage);
-    // cv::waitKey(1);
-    // Save the marker
-    std::ostringstream ss;
-    ss << std::setw(3) << std::setfill('0') << i;
-    std::string s1 = ss.str();
-    std::string charname = "charuco_board_";
-    std::string extname = ".bmp";
-    std::string savename = charname + s1;
-    savename += extname;
-    std::cout << "save_name " << savename << std::endl;
-    cv::imwrite(savename, boardImage);
-  }
+  const std::vector<cv::Mat> charuco_boards_images = createCharucoBoards(
+      num_board, number_x_square_per_board, number_y_square_per_board,
+      length_square, length_marker, resolution_x_per_board,
+      resolution_y_per_board);
+  saveBoards(charuco_boards_images);
 
   return 0;
 }