ChArUco pre460 pattern support via switch

[stefan523]

Support pre- and post-4.6.0 ChaRuCo patterns (even rows) via a "legacy" flag. Default is set to "true" for best backwards compatibility as discussed in #3291.

• 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

[AleksandrPanov]

Also fixed issue Function interpolateCornersCharuco misplace corners #3301

[stefan523]

Patch updated to resolve latest 4.x development conflicts. @AleksandrPanov, please review.

[stefan523]

@AleksandrPanov , @asmorkalov any feedback on this pull-request? Can you please review, approve, merge? I'd be also sufficiently happy with "false by default".

[apurvazaveri]

Hello,

I use post-4.6.0 version of ChaRuCo printed patterns. I noticed that interpolateCornersCharuco misplace corners. The markers are detected correctly but so of the corners as you can see in the attached image are misplaced. This did not happen in version 4.4.

When will the fix for this be available?

[asmorkalov]

@AleksandrPanov Please take a look on the issue with corners.

[apurvazaveri]

I am

Hello,

I use post-4.6.0 version of ChaRuCo printed patterns. I noticed that interpolateCornersCharuco misplace corners. The markers are detected correctly but so of the corners as you can see in the attached image are misplaced. This did not happen in version 4.4.

When will the fix for this be available?

Also, here's the image showing the markers being detected correctly.

[apurvazaveri]

I am

Hello,
I use post-4.6.0 version of ChaRuCo printed patterns. I noticed that interpolateCornersCharuco misplace corners. The markers are detected correctly but so of the corners as you can see in the attached image are misplaced. This did not happen in version 4.4.
When will the fix for this be available?

Also, here's the image showing the markers being detected correctly.

Did some digging into it and I can confirm that it was working as expected until opencv version 4.5.5.64

[stefan523]

@apurvazaveri, although related, this patch will (most likely) not fix this issue. Probably best if you raise a new issue, adding some more details on how to reproduce it, e.g. dictionary and board creation parameters etc.

[apurvazaveri]

@apurvazaveri, although related, this patch will (most likely) not fix this issue. Probably best if you raise a new issue, adding some more details on how to reproduce it, e.g. dictionary and board creation parameters etc.

Sure, I will do it.

[stefan523]

Fixed in main branch by opencv/opencv#23153 for next OpenCV release 4.8.0.

[apurvazaveri]

Thanks, I will test it and get back to you!