Tavole di calibrazione molto grandi

Per creare delle tavole di calibrazione Charuco si puo' usare un proiettore ed un muro bianco. L'importante e' che la risoluzione dell'immagine proiettata sia uguale a quella massima del proiettore (in modo da non avere interpolazione sui bordi dei pixels) 

Questo programma per Opencv 4.10 mostra l'immagine  a schermo e salva su file un png. Per mostrare a schermo pieno si puo' usare il comando feh -f immagine.png

#include <opencv2/opencv.hpp>

#include <opencv2/aruco.hpp>

#include <iostream>

int main() {

int squaresX = 7;

int squaresY = 5;

float squareLength = 60; // in pixels (screen units)

float markerLength = 40; // in pixels

auto dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);

// Create ChArUco board using constructor (OpenCV 4.x syntax)

cv::aruco::CharucoBoard board(cv::Size(squaresX, squaresY), squareLength, markerLength, dictionary);

cv::Mat boardImage;

// Generate the board image

board.generateImage(cv::Size(1920, 1080 ), boardImage, 10, 1);

// Check if image was generated successfully

if (boardImage.empty()) {

std::cerr << "Failed to generate board image" << std::endl;

return -1;

}

cv::imwrite("charuco_board.png", boardImage);

// Display the board

cv::namedWindow("Projected Charuco Board", cv::WINDOW_NORMAL);

cv::setWindowProperty("Projected Charuco Board", cv::WND_PROP_FULLSCREEN, cv::WINDOW_FULLSCREEN);

cv::imshow("Projected Charuco Board", boardImage);

cv::waitKey(0);

cv::destroyAllWindows();

return 0;

}

 Makefile

# Makefile for OpenCV 4.10.0 ChArUco Board Program

# Compiler

CXX = g++

# Program name

TARGET = charuco_board

# Source files

SOURCES = main.cpp

# Object files

OBJECTS = $(SOURCES:.cpp=.o)

# OpenCV version

OPENCV_VERSION = 4.10.0

# Compiler flags

CXXFLAGS = -std=c++11 -Wall -Wextra -O2

# OpenCV flags (using pkg-config)

OPENCV_CFLAGS = `pkg-config --cflags opencv4`

OPENCV_LIBS = `pkg-config --libs opencv4`

# Alternative manual OpenCV flags if pkg-config is not available

# Uncomment these lines and comment out the pkg-config lines above if needed

# OPENCV_INCLUDE = -I/usr/local/include/opencv4

# OPENCV_LIBS = -L/usr/local/lib -lopencv_core -lopencv_imgproc -lopencv_imgcodecs -lopencv_highgui -lopencv_aruco

# Default target

all: $(TARGET)

# Link the program

$(TARGET): $(OBJECTS)

$(CXX) $(OBJECTS) -o $(TARGET) $(OPENCV_LIBS)

# Compile source files

%.o: %.cpp

$(CXX) $(CXXFLAGS) $(OPENCV_CFLAGS) -c $< -o $@

# Clean build files

clean:

rm -f $(OBJECTS) $(TARGET)

# Install dependencies (Ubuntu/Debian)

install-deps:

sudo apt-get update

sudo apt-get install build-essential cmake pkg-config

sudo apt-get install libopencv-dev libopencv-contrib-dev

# Check OpenCV installation

check-opencv:

@echo "Checking OpenCV installation..."

@pkg-config --modversion opencv4 2>/dev/null || echo "OpenCV not found via pkg-config"

@echo "OpenCV compile flags:"

@pkg-config --cflags opencv4 2>/dev/null || echo "pkg-config not available"

@echo "OpenCV link flags:"

@pkg-config --libs opencv4 2>/dev/null || echo "pkg-config not available"

# Run the program

run: $(TARGET)

./$(TARGET)

# Debug build

debug: CXXFLAGS += -g -DDEBUG

debug: $(TARGET)

# Release build

release: CXXFLAGS += -O3 -DNDEBUG

release: $(TARGET)

# Help

help:

@echo "Available targets:"

@echo " all - Build the program (default)"

@echo " clean - Remove build files"

@echo " run - Build and run the program"

@echo " debug - Build with debug flags"

@echo " release - Build with release optimization"

@echo " install-deps - Install OpenCV dependencies (Ubuntu/Debian)"

@echo " check-opencv - Check OpenCV installation"

@echo " help - Show this help message"

# Phony targets

.PHONY: all clean run debug release install-deps check-opencv help