Merge pull request #23363 from vovka643:4.x_generate_charuco

Added charuco board generation to gen_pattern.py #23363

added charuco board generation in gen_pattern.py
moved aruco_dict_utils.cpp to samples from opencv_contrib (https://github.com/opencv/opencv_contrib/pull/3464)

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] 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
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake

apps/python_app_test.py

@@ -0,0 +1,56 @@
+#!/usr/bin/env python
+
+from __future__ import print_function
+
+import sys
+sys.dont_write_bytecode = True  # Don't generate .pyc files / __pycache__ directories
+
+import os
+import sys
+import unittest
+
+# Python 3 moved urlopen to urllib.requests
+try:
+    from urllib.request import urlopen
+except ImportError:
+    from urllib import urlopen
+
+basedir = os.path.abspath(os.path.dirname(__file__))
+
+sys.path.append(os.path.join(os.path.split(basedir)[0], "modules", "python", "test"))
+from tests_common import NewOpenCVTests
+
+def load_tests(loader, tests, pattern):
+    cwd = os.getcwd()
+    config_file = 'opencv_apps_python_tests.cfg'
+    locations = [cwd, basedir]
+    if os.path.exists(config_file):
+        with open(config_file, 'r') as f:
+            locations += [str(s).strip() for s in f.readlines()]
+    else:
+        print('WARNING: OpenCV tests config file ({}) is missing, running subset of tests'.format(config_file))
+
+    tests_pattern = os.environ.get('OPENCV_APPS_TEST_FILTER', 'test_*') + '.py'
+    if tests_pattern != 'test_*.py':
+        print('Tests filter: {}'.format(tests_pattern))
+
+    processed = set()
+    for l in locations:
+        if not os.path.isabs(l):
+            l = os.path.normpath(os.path.join(cwd, l))
+        if l in processed:
+            continue
+        processed.add(l)
+        print('Discovering python tests from: {}'.format(l))
+        sys_path_modify = l not in sys.path
+        if sys_path_modify:
+            sys.path.append(l)  # Hack python loader
+        discovered_tests = loader.discover(l, pattern=tests_pattern, top_level_dir=l)
+        print('    found {} tests'.format(discovered_tests.countTestCases()))
+        tests.addTests(loader.discover(l, pattern=tests_pattern))
+        if sys_path_modify:
+            sys.path.remove(l)
+    return tests
+
+if __name__ == '__main__':
+    NewOpenCVTests.bootstrap()

doc/CMakeLists.txt

@@ -1,3 +1,8 @@
+if (NOT CMAKE_CROSSCOMPILING)
+  file(RELATIVE_PATH __loc_relative "${OpenCV_BINARY_DIR}" "${CMAKE_CURRENT_LIST_DIR}/pattern_tools\n")
+  file(APPEND "${OpenCV_BINARY_DIR}/opencv_apps_python_tests.cfg" "${__loc_relative}")
+endif()
+
 if(NOT BUILD_DOCS)
   return()
 endif()

doc/pattern_tools/gen_pattern.py

@@ -6,7 +6,7 @@ python gen_pattern.py -o out.svg -r 11 -c 8 -T circles -s 20.0 -R 5.0 -u mm -w 2
 -o, --output - output file (default out.svg)
 -r, --rows - pattern rows (default 11)
 -c, --columns - pattern columns (default 8)
--T, --type - type of pattern, circles, acircles, checkerboard, radon_checkerboard (default circles)
+-T, --type - type of pattern: circles, acircles, checkerboard, radon_checkerboard, charuco_board. default circles.
 -s, --square_size - size of squares in pattern (default 20.0)
 -R, --radius_rate - circles_radius = square_size/radius_rate (default 5.0)
 -u, --units - mm, inches, px, m (default mm)
@@ -14,16 +14,20 @@ python gen_pattern.py -o out.svg -r 11 -c 8 -T circles -s 20.0 -R 5.0 -u mm -w 2
 -h, --page_height - page height in units (default 279)
 -a, --page_size - page size (default A4), supersedes -h -w arguments
 -m, --markers - list of cells with markers for the radon checkerboard
+-p, --aruco_marker_size - aruco markers size for ChAruco pattern (default 10.0)
+-f, --dict_file - file name of custom aruco dictionary for ChAruco pattern
 -H, --help - show help
 """
 
 import argparse
-
+import numpy as np
+import json
+import gzip
 from svgfig import *
 
 
 class PatternMaker:
-    def __init__(self, cols, rows, output, units, square_size, radius_rate, page_width, page_height, markers):
+    def __init__(self, cols, rows, output, units, square_size, radius_rate, page_width, page_height, markers, aruco_marker_size, dict_file):
         self.cols = cols
         self.rows = rows
         self.output = output
@@ -33,6 +37,9 @@ class PatternMaker:
         self.width = page_width
         self.height = page_height
         self.markers = markers
+        self.aruco_marker_size = aruco_marker_size #for charuco boards only
+        self.dict_file = dict_file
+
         self.g = SVG("g")  # the svg group container
 
     def make_circles_pattern(self):
@@ -124,7 +131,7 @@ class PatternMaker:
                                      height=spacing, fill="black", stroke="none")
                     else:
                         square = SVG("path", d=self._make_round_rect(x * spacing + xspacing, y * spacing + yspacing,
-                                                                     spacing, corner_types), fill="black", stroke="none")
+                                      spacing, corner_types), fill="black", stroke="none")
                     self.g.append(square)
         if self.markers is not None:
             r = self.square_size * 0.17
@@ -140,6 +147,69 @@ class PatternMaker:
                           cy=(y * spacing) + y_spacing + r, r=r, fill=color, stroke="none")
                 self.g.append(dot)
 
+    @staticmethod
+    def _create_marker_bits(markerSize_bits, byteList):
+
+        marker = np.zeros((markerSize_bits+2, markerSize_bits+2))
+        bits = marker[1:markerSize_bits+1, 1:markerSize_bits+1]
+
+        for i in range(markerSize_bits):
+            for j in range(markerSize_bits):
+                bits[i][j] = int(byteList[i*markerSize_bits+j])
+
+        return marker
+
+    def make_charuco_board(self):
+        if (self.aruco_marker_size>self.square_size):
+            print("Error: Aruco marker cannot be lager than chessboard square!")
+            return
+
+        if (self.dict_file.split(".")[-1] == "gz"):
+            with gzip.open(self.dict_file, 'r') as fin:
+                json_bytes = fin.read()
+                json_str = json_bytes.decode('utf-8')
+                dictionary = json.loads(json_str)
+
+        else:
+            f = open(self.dict_file)
+            dictionary = json.load(f)
+
+        if (dictionary["nmarkers"] < int(self.cols*self.rows/2)):
+            print("Error: Aruco dictionary contains less markers than it needs for chosen board. Please choose another dictionary or use smaller board than required for chosen board")
+            return
+
+        markerSize_bits = dictionary["markersize"]
+
+        side = self.aruco_marker_size / (markerSize_bits+2)
+        spacing = self.square_size
+        xspacing = (self.width - self.cols * self.square_size) / 2.0
+        yspacing = (self.height - self.rows * self.square_size) / 2.0
+
+        ch_ar_border = (self.square_size - self.aruco_marker_size)/2
+        marker_id = 0
+        for y in range(0, self.rows):
+            for x in range(0, self.cols):
+
+                if x % 2 == y % 2:
+                    square = SVG("rect", x=x * spacing + xspacing, y=y * spacing + yspacing, width=spacing,
+                                 height=spacing, fill="black", stroke="none")
+                    self.g.append(square)
+                else:
+                    img_mark = self._create_marker_bits(markerSize_bits, dictionary["marker_"+str(marker_id)])
+                    marker_id +=1
+                    x_pos = x * spacing + xspacing
+                    y_pos = y * spacing + yspacing
+
+                    square = SVG("rect", x=x_pos+ch_ar_border, y=y_pos+ch_ar_border, width=self.aruco_marker_size,
+                                             height=self.aruco_marker_size, fill="black", stroke="none")
+                    self.g.append(square)
+                    for x_ in range(len(img_mark[0])):
+                        for y_ in range(len(img_mark)):
+                            if (img_mark[y_][x_] != 0):
+                                square = SVG("rect", x=x_pos+ch_ar_border+(x_)*side, y=y_pos+ch_ar_border+(y_)*side, width=side,
+                                             height=side, fill="white", stroke="white", stroke_width = spacing*0.01)
+                                self.g.append(square)
+
     def save(self):
         c = canvas(self.g, width="%d%s" % (self.width, self.units), height="%d%s" % (self.height, self.units),
                    viewBox="0 0 %d %d" % (self.width, self.height))
@@ -155,7 +225,7 @@ def main():
                         type=int)
     parser.add_argument("-r", "--rows", help="pattern rows", default="11", action="store", dest="rows", type=int)
     parser.add_argument("-T", "--type", help="type of pattern", default="circles", action="store", dest="p_type",
-                        choices=["circles", "acircles", "checkerboard", "radon_checkerboard"])
+                        choices=["circles", "acircles", "checkerboard", "radon_checkerboard", "charuco_board"])
     parser.add_argument("-u", "--units", help="length unit", default="mm", action="store", dest="units",
                         choices=["mm", "inches", "px", "m"])
     parser.add_argument("-s", "--square_size", help="size of squares in pattern", default="20.0", action="store",
@@ -172,6 +242,10 @@ def main():
                                                 "coordinates as list of numbers: -m 1 2 3 4 means markers in cells "
                                                 "[1, 2] and [3, 4]",
                         default=argparse.SUPPRESS, action="store", dest="markers", nargs="+", type=int)
+    parser.add_argument("-p", "--marker_size", help="aruco markers size for ChAruco pattern (default 10.0)", default="10.0",
+                        action="store", dest="aruco_marker_size", type=float)
+    parser.add_argument("-f", "--dict_file", help="file name of custom aruco dictionary for ChAruco pattern", default="DICT_ARUCO_ORIGINAL.json",
+                        action="store", dest="dict_file", type=str)
     args = parser.parse_args()
 
     show_help = args.show_help
@@ -185,6 +259,9 @@ def main():
     units = args.units
     square_size = args.square_size
     radius_rate = args.radius_rate
+    aruco_marker_size = args.aruco_marker_size
+    dict_file = args.dict_file
+
     if 'page_width' and 'page_height' in args:
         page_width = args.page_width
         page_height = args.page_height
@@ -206,10 +283,11 @@ def main():
             else:
                 raise ValueError("The marker {},{} is outside the checkerboard".format(x, y))
 
-    pm = PatternMaker(columns, rows, output, units, square_size, radius_rate, page_width, page_height, markers)
+    pm = PatternMaker(columns, rows, output, units, square_size, radius_rate, page_width, page_height, markers, aruco_marker_size, dict_file)
     # dict for easy lookup of pattern type
     mp = {"circles": pm.make_circles_pattern, "acircles": pm.make_acircles_pattern,
-          "checkerboard": pm.make_checkerboard_pattern, "radon_checkerboard": pm.make_radon_checkerboard_pattern}
+          "checkerboard": pm.make_checkerboard_pattern, "radon_checkerboard": pm.make_radon_checkerboard_pattern,
+         "charuco_board": pm.make_charuco_board}
     mp[p_type]()
     # this should save pattern to output
     pm.save()

doc/pattern_tools/test_charuco_board.py

@@ -0,0 +1,118 @@
+from __future__ import print_function
+
+import os, tempfile, numpy as np
+
+import sys
+import cv2 as cv
+from tests_common import NewOpenCVTests
+import gen_pattern
+
+class aruco_objdetect_test(NewOpenCVTests):
+
+    def test_aruco_dicts(self):
+        try:
+            from svglib.svglib import svg2rlg
+            from reportlab.graphics import renderPM
+        except:
+            raise self.skipTest("libraies svglib and reportlab not found")
+        else:
+            cols = 3
+            rows = 5
+            square_size = 100
+            aruco_type = [cv.aruco.DICT_4X4_1000, cv.aruco.DICT_5X5_1000, cv.aruco.DICT_6X6_1000,
+                        cv.aruco.DICT_7X7_1000, cv.aruco.DICT_ARUCO_ORIGINAL, cv.aruco.DICT_APRILTAG_16h5,
+                        cv.aruco.DICT_APRILTAG_25h9, cv.aruco.DICT_APRILTAG_36h10, cv.aruco.DICT_APRILTAG_36h11]
+            aruco_type_str = ['DICT_4X4_1000','DICT_5X5_1000', 'DICT_6X6_1000',
+                        'DICT_7X7_1000', 'DICT_ARUCO_ORIGINAL', 'DICT_APRILTAG_16h5',
+                        'DICT_APRILTAG_25h9', 'DICT_APRILTAG_36h10', 'DICT_APRILTAG_36h11']
+            marker_size = 0.8*square_size
+            board_width = cols*square_size
+            board_height = rows*square_size
+
+            for aruco_type_i in range(len(aruco_type)):
+                #draw desk using opencv
+                aruco_dict = cv.aruco.getPredefinedDictionary(aruco_type[aruco_type_i])
+                board = cv.aruco.CharucoBoard((cols, rows), square_size, marker_size, aruco_dict)
+                charuco_detector = cv.aruco.CharucoDetector(board)
+                from_cv_img = board.generateImage((cols*square_size*10, rows*square_size*10))
+
+                #draw desk using svg
+                fd1, filesvg = tempfile.mkstemp(prefix="out", suffix=".svg")
+                os.close(fd1)
+                fd2, filepng = tempfile.mkstemp(prefix="svg_marker", suffix=".png")
+                os.close(fd2)
+
+                try:
+                    basedir = os.path.abspath(os.path.dirname(__file__))
+                    pm = gen_pattern.PatternMaker(cols, rows, filesvg, "px", square_size, 0, board_width,
+                                board_height, "charuco_checkboard", marker_size,
+                                os.path.join(basedir, aruco_type_str[aruco_type_i]+'.json.gz'))
+                    pm.make_charuco_board()
+                    pm.save()
+                    drawing = svg2rlg(filesvg)
+                    renderPM.drawToFile(drawing, filepng, fmt='PNG', dpi=720)
+                    from_svg_img = cv.imread(filepng)
+
+                    #test
+                    _charucoCorners, _charucoIds, markerCorners_svg, markerIds_svg = charuco_detector.detectBoard(from_svg_img)
+                    _charucoCorners, _charucoIds, markerCorners_cv, markerIds_cv = charuco_detector.detectBoard(from_cv_img)
+
+                    np.testing.assert_allclose(markerCorners_svg, markerCorners_cv, 0.1, 0.1)
+                    np.testing.assert_allclose(markerIds_svg, markerIds_cv, 0.1, 0.1)
+                finally:
+                    if os.path.exists(filesvg):
+                        os.remove(filesvg)
+                    if os.path.exists(filepng):
+                        os.remove(filepng)
+
+    def test_aruco_marker_sizes(self):
+        try:
+            from svglib.svglib import svg2rlg
+            from reportlab.graphics import renderPM
+        except:
+            raise self.skipTest("libraies svglib and reportlab not found")
+        else:
+            cols = 3
+            rows = 5
+            square_size = 100
+            aruco_type =  cv.aruco.DICT_5X5_1000
+            aruco_type_str = 'DICT_5X5_1000'
+            marker_sizes_rate = [0.25, 0.5, 0.75, 0.9]
+            board_width = cols*square_size
+            board_height = rows*square_size
+
+            for marker_s_rate in marker_sizes_rate:
+                marker_size = marker_s_rate*square_size
+                #draw desk using opencv
+                aruco_dict = cv.aruco.getPredefinedDictionary(aruco_type)
+                board = cv.aruco.CharucoBoard((cols, rows), square_size, marker_size, aruco_dict)
+                charuco_detector = cv.aruco.CharucoDetector(board)
+                from_cv_img = board.generateImage((cols*square_size*10, rows*square_size*10))
+
+                #draw desk using svg
+                fd1, filesvg = tempfile.mkstemp(prefix="out", suffix=".svg")
+                os.close(fd1)
+                fd2, filepng = tempfile.mkstemp(prefix="svg_marker", suffix=".png")
+                os.close(fd2)
+
+                try:
+                    basedir = os.path.abspath(os.path.dirname(__file__))
+                    pm = gen_pattern.PatternMaker(cols, rows, filesvg, "px", square_size, 0, board_width,
+                                board_height, "charuco_checkboard", marker_size, os.path.join(basedir, aruco_type_str+'.json.gz'))
+                    pm.make_charuco_board()
+                    pm.save()
+                    drawing = svg2rlg(filesvg)
+                    renderPM.drawToFile(drawing, filepng, fmt='PNG', dpi=720)
+                    from_svg_img = cv.imread(filepng)
+
+                    #test
+                    _charucoCorners, _charucoIds, markerCorners_svg, markerIds_svg = charuco_detector.detectBoard(from_svg_img)
+                    _charucoCorners, _charucoIds, markerCorners_cv, markerIds_cv = charuco_detector.detectBoard(from_cv_img)
+
+                    np.testing.assert_allclose(markerCorners_svg, markerCorners_cv, 0.1, 0.1)
+                    np.testing.assert_allclose(markerIds_svg, markerIds_cv, 0.1, 0.1)
+                finally:
+                    if os.path.exists(filesvg):
+                        os.remove(filesvg)
+                    if os.path.exists(filepng):
+                        os.remove(filepng)

doc/pattern_tools/test_requirements.txt

@@ -0,0 +1,2 @@
+svglib>=1.5.1
+reportlab>=4.0.0

doc/tutorials/calib3d/camera_calibration_pattern/camera_calibration_pattern.markdown

@@ -17,6 +17,9 @@ You can find a chessboard pattern in https://github.com/opencv/opencv/blob/4.x/d
 
 You can find a circleboard pattern in https://github.com/opencv/opencv/blob/4.x/doc/acircles_pattern.png
 
+You can find a ChAruco board pattern in https://github.com/opencv/opencv/blob/4.x/doc/charuco_board_pattern.png
+(7X5 ChAruco board, square size: 30 mm , marker size: 15 mm, aruco dict: DICT_5X5_100, page width: 210 mm, page height: 297 mm)
+
 Create your own pattern
 ---------------
 
@@ -28,7 +31,7 @@ create a checkerboard pattern in file chessboard.svg with 9 rows, 6 columns and
 
         python gen_pattern.py -o chessboard.svg --rows 9 --columns 6 --type checkerboard --square_size 20
 
-create a circle board pattern in file circleboard.svg with 7 rows, 5 columns and a radius of 15mm:
+create a circle board pattern in file circleboard.svg with 7 rows, 5 columns and a radius of 15 mm:
 
         python gen_pattern.py -o circleboard.svg --rows 7 --columns 5 --type circles --square_size 15
 
@@ -40,13 +43,18 @@ create a radon checkerboard for findChessboardCornersSB() with markers in (7 4),
 
         python gen_pattern.py -o radon_checkerboard.svg --rows 10 --columns 15 --type radon_checkerboard -s 12.1 -m 7 4 7 5 8 5
 
+create a ChAruco board pattern in charuco_board.svg with 7 rows, 5 columns, square size 30 mm, aruco marker size 15 mm and using DICT_5X5_100 as dictionary for aruco markers (it contains in DICT_ARUCO.json file):
+
+        python gen_pattern.py -o charuco_board.svg --rows 7 --columns 5 -T charuco_board --square_size 30 --marker_size 15 -f DICT_5X5_100.json.gz
+
 If you want to change unit use -u option (mm inches, px, m)
 
 If you want to change page size use -w and -h options
 
-@cond HAVE_opencv_aruco
-If you want to create a ChArUco board read @ref tutorial_charuco_detection "tutorial Detection of ChArUco Corners" in opencv_contrib tutorial.
-@endcond
-@cond !HAVE_opencv_aruco
-If you want to create a ChArUco board read tutorial Detection of ChArUco Corners in opencv_contrib tutorial.
-@endcond
+If you want to use your own dictionary for ChAruco board your should write name of file with your dictionary. For example
+
+        python gen_pattern.py -o charuco_board.svg --rows 7 --columns 5 -T charuco_board -f my_dictionary.json
+
+You can generate your dictionary in my_dictionary.json file with number of markers 30 and markers size 5 bits by using opencv/samples/cpp/aruco_dict_utils.cpp.
+
+        bin/example_cpp_aruco_dict_utils.exe my_dict.json -nMarkers=30 -markerSize=5

samples/cpp/aruco_dict_utils.cpp

@@ -0,0 +1,348 @@
+#include <opencv2/objdetect/aruco_detector.hpp>
+#include <iostream>
+
+using namespace cv;
+using namespace std;
+
+static int _getSelfDistance(const Mat &marker) {
+
+    Mat bytes = aruco::Dictionary::getByteListFromBits(marker);
+
+    double minHamming = (double)marker.total() + 1;
+    for(int r = 1; r < 4; r++) {
+        cv::Mat tmp1(1, bytes.cols, CV_8UC1, Scalar::all(0));
+        cv::Mat tmp2(1, bytes.cols, CV_8UC1, Scalar::all(0));
+        uchar* rot0 = tmp1.ptr();
+        uchar* rot1 = tmp2.ptr();
+
+        for (int i = 0; i < bytes.cols; ++i) {
+            rot0[i] = bytes.ptr()[i];
+            rot1[i] = bytes.ptr()[bytes.cols*r + i];
+        }
+
+        double currentHamming = cv::norm(tmp1, tmp2, cv::NORM_HAMMING);
+        if (currentHamming < minHamming) minHamming = currentHamming;
+    }
+    Mat b;
+    flip(marker, b, 0);
+    Mat flipBytes = aruco::Dictionary::getByteListFromBits(b);
+    for(int r = 0; r < 4; r++) {
+        cv::Mat tmp1(1, flipBytes.cols, CV_8UC1, Scalar::all(0));
+        cv::Mat tmp2(1, bytes.cols, CV_8UC1, Scalar::all(0));
+        uchar* rot0 = tmp1.ptr();
+        uchar* rot1 = tmp2.ptr();
+
+        for (int i = 0; i < bytes.cols; ++i) {
+            rot0[i] = flipBytes.ptr()[i];
+            rot1[i] = bytes.ptr()[bytes.cols*r + i];
+        }
+
+        double currentHamming = cv::norm(tmp1, tmp2, cv::NORM_HAMMING);
+        if(currentHamming < minHamming) minHamming = currentHamming;
+    }
+    flip(marker, b, 1);
+    flipBytes = aruco::Dictionary::getByteListFromBits(b);
+    for(int r = 0; r < 4; r++) {
+        cv::Mat tmp1(1, flipBytes.cols, CV_8UC1, Scalar::all(0));
+        cv::Mat tmp2(1, bytes.cols, CV_8UC1, Scalar::all(0));
+        uchar* rot0 = tmp1.ptr();
+        uchar* rot1 = tmp2.ptr();
+
+        for (int i = 0; i < bytes.cols; ++i) {
+            rot0[i] = flipBytes.ptr()[i];
+            rot1[i] = bytes.ptr()[bytes.cols*r + i];
+        }
+
+        double currentHamming = cv::norm(tmp1, tmp2, cv::NORM_HAMMING);
+        if(currentHamming < minHamming) minHamming = currentHamming;
+    }
+    return cvRound(minHamming);
+}
+
+static inline int getFlipDistanceToId(const aruco::Dictionary& dict, InputArray bits, int id, bool allRotations = true) {
+    Mat bytesList = dict.bytesList;
+    CV_Assert(id >= 0 && id < bytesList.rows);
+
+    unsigned int nRotations = 4;
+    if(!allRotations) nRotations = 1;
+
+    Mat candidateBytes = aruco::Dictionary::getByteListFromBits(bits.getMat());
+    double currentMinDistance = int(bits.total() * bits.total());
+    for(unsigned int r = 0; r < nRotations; r++) {
+
+        cv::Mat tmp1(1, candidateBytes.cols, CV_8UC1, Scalar::all(0));
+        cv::Mat tmp2(1, candidateBytes.cols, CV_8UC1, Scalar::all(0));
+        uchar* rot0 = tmp1.ptr();
+        uchar* rot1 = tmp2.ptr();
+
+        for (int i = 0; i < candidateBytes.cols; ++i) {
+            rot0[i] = bytesList.ptr(id)[r*candidateBytes.cols + i];
+            rot1[i] = candidateBytes.ptr()[i];
+        }
+
+        double currentHamming = cv::norm(tmp1, tmp2, cv::NORM_HAMMING);
+        if(currentHamming < currentMinDistance) {
+            currentMinDistance = currentHamming;
+        }
+    }
+    Mat b;
+    flip(bits.getMat(), b, 0);
+    candidateBytes = aruco::Dictionary::getByteListFromBits(b);
+    for(unsigned int r = 0; r < nRotations; r++) {
+        cv::Mat tmp1(1, candidateBytes.cols, CV_8UC1, Scalar::all(0));
+        cv::Mat tmp2(1, candidateBytes.cols, CV_8UC1, Scalar::all(0));
+        uchar* rot0 = tmp1.ptr();
+        uchar* rot1 = tmp2.ptr();
+
+        for (int i = 0; i < candidateBytes.cols; ++i) {
+            rot0[i] = bytesList.ptr(id)[r*candidateBytes.cols + i];
+            rot1[i] = candidateBytes.ptr()[i];
+        }
+
+        double currentHamming = cv::norm(tmp1, tmp2, cv::NORM_HAMMING);
+        if (currentHamming < currentMinDistance) {
+            currentMinDistance = currentHamming;
+        }
+    }
+
+    flip(bits.getMat(), b, 1);
+    candidateBytes = aruco::Dictionary::getByteListFromBits(b);
+    for(unsigned int r = 0; r < nRotations; r++) {
+        cv::Mat tmp1(1, candidateBytes.cols, CV_8UC1, Scalar::all(0));
+        cv::Mat tmp2(1, candidateBytes.cols, CV_8UC1, Scalar::all(0));
+        uchar* rot0 = tmp1.ptr();
+        uchar* rot1 = tmp2.ptr();
+
+        for (int i = 0; i < candidateBytes.cols; ++i) {
+            rot0[i] = bytesList.ptr(id)[r*candidateBytes.cols + i];
+            rot1[i] = candidateBytes.ptr()[i];
+        }
+
+        double currentHamming = cv::norm(tmp1, tmp2, cv::NORM_HAMMING);
+        if (currentHamming < currentMinDistance) {
+            currentMinDistance = currentHamming;
+        }
+    }
+    return cvRound(currentMinDistance);
+}
+
+static inline aruco::Dictionary generateCustomAsymmetricDictionary(int nMarkers, int markerSize,
+                                                                        const aruco::Dictionary &baseDictionary,
+                                                                        int randomSeed) {
+    RNG rng((uint64)(randomSeed));
+
+    aruco::Dictionary out;
+    out.markerSize = markerSize;
+
+    // theoretical maximum intermarker distance
+    // See S. Garrido-Jurado, R. Muñoz-Salinas, F. J. Madrid-Cuevas, and M. J. Marín-Jiménez. 2014.
+    // "Automatic generation and detection of highly reliable fiducial markers under occlusion".
+    // Pattern Recogn. 47, 6 (June 2014), 2280-2292. DOI=10.1016/j.patcog.2014.01.005
+    int C = (int)std::floor(float(markerSize * markerSize) / 4.f);
+    int tau = 2 * (int)std::floor(float(C) * 4.f / 3.f);
+
+    // if baseDictionary is provided, calculate its intermarker distance
+    if(baseDictionary.bytesList.rows > 0) {
+        CV_Assert(baseDictionary.markerSize == markerSize);
+        out.bytesList = baseDictionary.bytesList.clone();
+
+        int minDistance = markerSize * markerSize + 1;
+        for(int i = 0; i < out.bytesList.rows; i++) {
+            Mat markerBytes = out.bytesList.rowRange(i, i + 1);
+            Mat markerBits = aruco::Dictionary::getBitsFromByteList(markerBytes, markerSize);
+            minDistance = min(minDistance, _getSelfDistance(markerBits));
+            for(int j = i + 1; j < out.bytesList.rows; j++) {
+                minDistance = min(minDistance, getFlipDistanceToId(out, markerBits, j));
+            }
+        }
+        tau = minDistance;
+    }
+
+    // current best option
+    int bestTau = 0;
+    Mat bestMarker;
+
+    // after these number of unproductive iterations, the best option is accepted
+    const int maxUnproductiveIterations = 5000;
+    int unproductiveIterations = 0;
+
+    while(out.bytesList.rows < nMarkers) {
+        Mat currentMarker(markerSize, markerSize, CV_8UC1, Scalar::all(0));
+        rng.fill(currentMarker, RNG::UNIFORM, 0, 2);
+
+        int selfDistance = _getSelfDistance(currentMarker);
+        int minDistance = selfDistance;
+
+        // if self distance is better or equal than current best option, calculate distance
+        // to previous accepted markers
+        if(selfDistance >= bestTau) {
+            for(int i = 0; i < out.bytesList.rows; i++) {
+                int currentDistance = getFlipDistanceToId(out, currentMarker, i);
+                minDistance = min(currentDistance, minDistance);
+                if(minDistance <= bestTau) {
+                    break;
+                }
+            }
+        }
+
+        // if distance is high enough, accept the marker
+        if(minDistance >= tau) {
+            unproductiveIterations = 0;
+            bestTau = 0;
+            Mat bytes = aruco::Dictionary::getByteListFromBits(currentMarker);
+            out.bytesList.push_back(bytes);
+        } else {
+            unproductiveIterations++;
+
+            // if distance is not enough, but is better than the current best option
+            if(minDistance > bestTau) {
+                bestTau = minDistance;
+                bestMarker = currentMarker;
+            }
+
+            // if number of unproductive iterarions has been reached, accept the current best option
+            if(unproductiveIterations == maxUnproductiveIterations) {
+                unproductiveIterations = 0;
+                tau = bestTau;
+                bestTau = 0;
+                Mat bytes = aruco::Dictionary::getByteListFromBits(bestMarker);
+                out.bytesList.push_back(bytes);
+            }
+        }
+    }
+
+    // update the maximum number of correction bits for the generated dictionary
+    out.maxCorrectionBits = (tau - 1) / 2;
+
+    return out;
+}
+
+static inline int getMinDistForDict(const aruco::Dictionary& dict) {
+    const int dict_size = dict.bytesList.rows;
+    const int marker_size = dict.markerSize;
+    int minDist = marker_size * marker_size;
+    for (int i = 0; i < dict_size; i++) {
+        Mat row = dict.bytesList.row(i);
+        Mat marker = dict.getBitsFromByteList(row, marker_size);
+        for (int j = 0; j < dict_size; j++) {
+            if (j != i) {
+                minDist = min(dict.getDistanceToId(marker, j), minDist);
+            }
+        }
+    }
+    return minDist;
+}
+
+static inline int getMinAsymDistForDict(const aruco::Dictionary& dict) {
+    const int dict_size = dict.bytesList.rows;
+    const int marker_size = dict.markerSize;
+    int minDist = marker_size * marker_size;
+    for (int i = 0; i < dict_size; i++)
+    {
+        Mat row = dict.bytesList.row(i);
+        Mat marker = dict.getBitsFromByteList(row, marker_size);
+        for (int j = 0; j < dict_size; j++)
+        {
+            if (j != i)
+            {
+                minDist = min(getFlipDistanceToId(dict, marker, j), minDist);
+            }
+        }
+    }
+    return minDist;
+}
+
+const char* keys  =
+        "{@outfile   |<none> | Output file with custom dict }"
+        "{r          | false | Calculate the metric considering flipped markers }"
+        "{d          |       | Dictionary Name: DICT_4X4_50, DICT_4X4_100, DICT_4X4_250,"
+        "DICT_4X4_1000, DICT_5X5_50, DICT_5X5_100, DICT_5X5_250, DICT_5X5_1000, "
+        "DICT_6X6_50, DICT_6X6_100, DICT_6X6_250, DICT_6X6_1000, DICT_7X7_50,"
+        "DICT_7X7_100, DICT_7X7_250, DICT_7X7_1000, DICT_ARUCO_ORIGINAL,"
+        "DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10,"
+        "DICT_APRILTAG_36h11}"
+        "{nMarkers   |       | Number of markers in the dictionary }"
+        "{markerSize |       | Marker size }"
+        "{cd         |       | Input file with custom dictionary }";
+
+const char* about =
+        "This program can be used to calculate the ArUco dictionary metric.\n"
+        "To calculate the metric considering flipped markers use -'r' flag.\n"
+        "This program can be used to create and write the custom ArUco dictionary.\n";
+
+int main(int argc, char *argv[])
+{
+    CommandLineParser parser(argc, argv, keys);
+    parser.about(about);
+    if(argc < 2) {
+        parser.printMessage();
+        return 0;
+    }
+    string outputFile = parser.get<String>(0);
+    int nMarkers = parser.get<int>("nMarkers");
+    int markerSize = parser.get<int>("markerSize");
+    bool checkFlippedMarkers = parser.get<bool>("r");
+
+    aruco::Dictionary dictionary = aruco::getPredefinedDictionary(0);
+
+    if (parser.has("d")) {
+        string arucoDictName = parser.get<string>("d");
+        cv::aruco::PredefinedDictionaryType arucoDict;
+        if (arucoDictName == "DICT_4X4_50") { arucoDict = cv::aruco::DICT_4X4_50; }
+        else if (arucoDictName == "DICT_4X4_100") { arucoDict = cv::aruco::DICT_4X4_100; }
+        else if (arucoDictName == "DICT_4X4_250") { arucoDict = cv::aruco::DICT_4X4_250; }
+        else if (arucoDictName == "DICT_4X4_1000") { arucoDict = cv::aruco::DICT_4X4_1000; }
+        else if (arucoDictName == "DICT_5X5_50") { arucoDict = cv::aruco::DICT_5X5_50; }
+        else if (arucoDictName == "DICT_5X5_100") { arucoDict = cv::aruco::DICT_5X5_100; }
+        else if (arucoDictName == "DICT_5X5_250") { arucoDict = cv::aruco::DICT_5X5_250; }
+        else if (arucoDictName == "DICT_5X5_1000") { arucoDict = cv::aruco::DICT_5X5_1000; }
+        else if (arucoDictName == "DICT_6X6_50") { arucoDict = cv::aruco::DICT_6X6_50; }
+        else if (arucoDictName == "DICT_6X6_100") { arucoDict = cv::aruco::DICT_6X6_100; }
+        else if (arucoDictName == "DICT_6X6_250") { arucoDict = cv::aruco::DICT_6X6_250; }
+        else if (arucoDictName == "DICT_6X6_1000") { arucoDict = cv::aruco::DICT_6X6_1000; }
+        else if (arucoDictName == "DICT_7X7_50") { arucoDict = cv::aruco::DICT_7X7_50; }
+        else if (arucoDictName == "DICT_7X7_100") { arucoDict = cv::aruco::DICT_7X7_100; }
+        else if (arucoDictName == "DICT_7X7_250") { arucoDict = cv::aruco::DICT_7X7_250; }
+        else if (arucoDictName == "DICT_7X7_1000") { arucoDict = cv::aruco::DICT_7X7_1000; }
+        else if (arucoDictName == "DICT_ARUCO_ORIGINAL") { arucoDict = cv::aruco::DICT_ARUCO_ORIGINAL; }
+        else if (arucoDictName == "DICT_APRILTAG_16h5") { arucoDict = cv::aruco::DICT_APRILTAG_16h5; }
+        else if (arucoDictName == "DICT_APRILTAG_25h9") { arucoDict = cv::aruco::DICT_APRILTAG_25h9; }
+        else if (arucoDictName == "DICT_APRILTAG_36h10") { arucoDict = cv::aruco::DICT_APRILTAG_36h10; }
+        else if (arucoDictName == "DICT_APRILTAG_36h11") { arucoDict = cv::aruco::DICT_APRILTAG_36h11; }
+        else {
+            cout << "incorrect name of aruco dictionary \n";
+            return 1;
+        }
+
+        dictionary = aruco::getPredefinedDictionary(arucoDict);
+    }
+    else if (parser.has("cd")) {
+        FileStorage fs(parser.get<std::string>("cd"), FileStorage::READ);
+        bool readOk = dictionary.readDictionary(fs.root());
+        if(!readOk) {
+            cerr << "Invalid dictionary file" << endl;
+            return 0;
+        }
+    }
+    else if (outputFile.empty() || nMarkers == 0 || markerSize == 0) {
+        cerr << "Dictionary not specified" << endl;
+        return 0;
+    }
+    if (!outputFile.empty() && nMarkers > 0 && markerSize > 0)
+    {
+        FileStorage fs(outputFile, FileStorage::WRITE);
+        if (checkFlippedMarkers)
+            dictionary = generateCustomAsymmetricDictionary(nMarkers, markerSize, aruco::Dictionary(), 0);
+        else
+            dictionary = aruco::extendDictionary(nMarkers, markerSize, aruco::Dictionary(), 0);
+        dictionary.writeDictionary(fs);
+    }
+
+    if (checkFlippedMarkers) {
+        cout << "Hamming distance: " << getMinAsymDistForDict(dictionary) << endl;
+    }
+    else {
+        cout << "Hamming distance: " << getMinDistForDict(dictionary) << endl;
+    }
+    return 0;
+}