Merge pull request #3735 from paroj:ovisup

ovis: force camera extent update to get correct bbox #3735

### 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
- [ ] 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.
- [x] The feature is well documented and sample code can be built with the project CMake

---
fixes #3732

modules/ovis/CMakeLists.txt

@@ -24,7 +24,7 @@ ocv_glob_module_sources()
 ocv_module_include_directories()
 ocv_create_module()
 
-ocv_add_samples(opencv_aruco)
+ocv_add_samples(opencv_objdetect opencv_aruco)
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS -Wunused-parameter)
 ocv_target_link_libraries(${the_module} ${OGRE_LIBRARIES})

modules/ovis/samples/aruco_ar_demo.cpp

@@ -3,7 +3,7 @@
 #include <opencv2/videoio.hpp>
 
 #include <opencv2/ovis.hpp>
-#include <opencv2/aruco_detector.hpp>
+#include <opencv2/aruco.hpp>
 
 #include <iostream>
 
@@ -24,10 +24,12 @@ int main()
   const double focal_length = 800.0;
 
   // aruco
-  Ptr<aruco::Dictionary> adict = aruco::getPredefinedDictionary(aruco::DICT_4X4_50);
-  //Mat out_img;
-  //aruco::drawMarker(adict, 0, 400, out_img);
-  //imshow("marker", out_img);
+  aruco::Dictionary adict = aruco::getPredefinedDictionary(aruco::DICT_4X4_50);
+
+  aruco::ArucoDetector detector(adict);
+  Mat out_img;
+  adict.generateImageMarker(0, 400, out_img);
+  imshow("marker", out_img);
 
   // random calibration data, your mileage may vary
   Mat1d cm = Mat1d::zeros(3, 3); // init empty matrix
@@ -53,7 +55,7 @@ int main()
   while (ovis::waitKey(1) != KEY_ESCAPE) {
     cap.read(img);
     win->setBackground(img);
-    aruco::detectMarkers(img, adict, corners, ids);
+    detector.detectMarkers(img, corners, ids);
 
     waitKey(1);
 

modules/ovis/samples/aruco_ar_demo.py

@@ -3,7 +3,7 @@ import cv2 as cv
 
 # aruco
 adict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_4X4_50)
-cv.imshow("marker", cv.aruco.drawMarker(adict, 0, 400))
+cv.imshow("marker", adict.generateImageMarker(0, 400))
 
 # random calibration data. your mileage may vary.
 imsize = (800, 600)

modules/ovis/src/ovis.cpp

@@ -588,6 +588,7 @@ public:
         cam->setDebugDisplayEnabled(true);
         cam->setNearClipDistance(1e-9);
         cam->setFarClipDistance(zFar);
+        cam->getFrustumExtents(); // force update
 
         _setCameraIntrinsics(cam, K, imsize);