* Adding link and brief description to legacy parameter

* Exchange test condition blocks with ASSERTs

Author: stefan523

modules/aruco/include/opencv2/aruco/charuco.hpp

@@ -92,7 +92,7 @@ class CV_EXPORTS_W CharucoBoard : public Board {
      * @param markerLength marker side length (same unit than squareLength)
      * @param dictionary dictionary of markers indicating the type of markers.
      * The first markers in the dictionary are used to fill the white chessboard squares.
-     * @param legacy legacy chessboard pattern (pre 4.6.0)
+     * @param legacy legacy chessboard pattern (pre 4.6.0). Pattern generation was changed to be consistent across OpenCV, leading to incompatible even row patterns. Legacy switch enables old behavior to support pre-existing targets, see https://github.com/opencv/opencv_contrib/issues/3291).
      * @return the output CharucoBoard object
      *
      * This functions creates a CharucoBoard object given the number of squares in each direction

modules/aruco/test/test_charucodetection.cpp

@@ -166,11 +166,7 @@ void CV_CharucoDetection::run(int) {
                     params->markerBorderBits = markerBorder;
                     aruco::detectMarkers(img, dictionary, corners, ids, params);
 
-                    if(ids.size() == 0) {
-                        ts->printf(cvtest::TS::LOG, "Marker detection failed");
-                        ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
-                        return;
-                    }
+                    ASSERT_GT(ids.size(), std::vector< int >::size_type(0)) << "Marker detection failed";
 
                     // interpolate charuco corners
                     vector< Point2f > charucoCorners;
@@ -321,20 +317,11 @@ void CV_CharucoPoseEstimation::run(int) {
 
                         int currentId = charucoIds[i];
 
-                        if(currentId >= (int)board->chessboardCorners.size()) {
-                            ts->printf(cvtest::TS::LOG, "Invalid Charuco corner id");
-                            ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
-                            return;
-                        }
+                        ASSERT_LT(currentId, (int)board->chessboardCorners.size()) << "Invalid Charuco corner id";
 
                         double repError = cv::norm(charucoCorners[i] - projectedCharucoCorners[currentId]);  // TODO cvtest
 
-
-                        if(repError > 5.) {
-                            ts->printf(cvtest::TS::LOG, "Charuco corner reprojection error too high");
-                            ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
-                            return;
-                        }
+                        ASSERT_LE(repError, 5.) << "Charuco corner reprojection error too high";
                     }
                 }
             }