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test.py

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+import cv2
+from cv2 import aruco
+from cv2.typing import MatLike
+from enum import Enum
+from pathlib import Path
+
+
+class ArucoDictionary(Enum):
+    Dict_4X4_50 = aruco.DICT_4X4_50
+    Dict_4X4_100 = aruco.DICT_4X4_100
+    Dict_4X4_250 = aruco.DICT_4X4_250
+    Dict_4X4_1000 = aruco.DICT_4X4_1000
+    Dict_5X5_50 = aruco.DICT_5X5_50
+    Dict_5X5_100 = aruco.DICT_5X5_100
+    Dict_5X5_250 = aruco.DICT_5X5_250
+    Dict_5X5_1000 = aruco.DICT_5X5_1000
+    Dict_6X6_50 = aruco.DICT_6X6_50
+    Dict_6X6_100 = aruco.DICT_6X6_100
+    Dict_6X6_250 = aruco.DICT_6X6_250
+    Dict_6X6_1000 = aruco.DICT_6X6_1000
+    Dict_7X7_50 = aruco.DICT_7X7_50
+    Dict_7X7_100 = aruco.DICT_7X7_100
+    Dict_7X7_250 = aruco.DICT_7X7_250
+    Dict_7X7_1000 = aruco.DICT_7X7_1000
+    Dict_APRILTAG_16h5 = aruco.DICT_APRILTAG_16h5
+    Dict_APRILTAG_25h9 = aruco.DICT_APRILTAG_25h9
+    Dict_APRILTAG_36h10 = aruco.DICT_APRILTAG_36h10
+    Dict_APRILTAG_36h11 = aruco.DICT_APRILTAG_36h11
+    Dict_ArUco_ORIGINAL = aruco.DICT_ARUCO_ORIGINAL
+
+
+def create_charuco_board(
+    square_x: int,
+    square_y: int,
+    square_length: float,
+    marker_length: float,
+    dictionary: aruco.Dictionary,
+) -> aruco.CharucoBoard:
+    return aruco.CharucoBoard( # type: ignore
+        (square_x, square_y), square_length, marker_length, dictionary
+    )
+
+IMAGE_PATH= Path("/Users/crosstyan/Downloads/IMG_1505.jpeg")
+
+def main():
+    ...
+    img: MatLike
+    img = cv2.imread(str(IMAGE_PATH))
+    # 10x7
+    # 115mm square
+    # 90mm marker
+    dictionary = ArucoDictionary.Dict_4X4_50
+    predifined = aruco.getPredefinedDictionary(dictionary.value)
+    # https://docs.opencv.org/4.x/d9/d6a/group__aruco.html#ga3bc50d61fe4db7bce8d26d56b5a6428a
+    # https://docs.opencv.org/4.x/df/d4a/tutorial_charuco_detection.html
+    corners, ids, rejected = aruco.detectMarkers(img, predifined)
+    board = create_charuco_board(10, 7, 115, 90, predifined)
+    if ids is not None:
+        aruco.drawDetectedMarkers(img, corners, ids)
+        _, ch_corners, ch_ids =  aruco.interpolateCornersCharuco(corners, ids, img, board)
+        if ch_corners is not None and ch_ids is not None:
+            aruco.drawDetectedCornersCharuco(img, ch_corners, ch_ids)
+    cv2.imwrite("output.jpg", img)
+    
+
+if __name__ == "__main__":
+    main()
+