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mode 100644 index 0000000000..fbcdd4e309 --- /dev/null +++ b/samples/data/aruco/tutorial_camera_charuco.yml @@ -0,0 +1,21 @@ +%YAML:1.0 +--- +calibration_time: "Wed 08 Dec 2021 05:13:09 PM MSK" +image_width: 640 +image_height: 480 +flags: 0 +camera_matrix: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 4.5251072219637672e+02, 0., 3.1770297317353277e+02, 0., + 4.5676707935146891e+02, 2.7775155919135995e+02, 0., 0., 1. ] +distortion_coefficients: !!opencv-matrix + rows: 1 + cols: 5 + dt: d + data: [ 1.2136925618707872e-01, -1.0854664722560681e+00, + 1.1786843796668460e-04, -4.6240686046485508e-04, + 2.9542589406810080e+00 ] +avg_reprojection_error: 1.8234905535936044e-01 +info: "The camera calibration parameters were obtained by img_00.jpg-img_03.jpg from aruco/tutorials/aruco_calibration/images" diff --git a/samples/python/aruco_detect_board_charuco.py b/samples/python/aruco_detect_board_charuco.py new file mode 100644 index 0000000000..2625023ad2 --- /dev/null +++ b/samples/python/aruco_detect_board_charuco.py @@ -0,0 +1,115 @@ +#!/usr/bin/env python + +"""aruco_detect_board_charuco.py +Usage example: +python aruco_detect_board_charuco.py -w=5 -h=7 -sl=0.04 -ml=0.02 -d=10 -c=../data/aruco/tutorial_camera_charuco.yml + -i=../data/aruco/choriginal.jpg +""" + +import argparse +import numpy as np +import cv2 as cv +import sys + + +def read_camera_parameters(filename): + fs = cv.FileStorage(cv.samples.findFile(filename, False), cv.FileStorage_READ) + if fs.isOpened(): + cam_matrix = fs.getNode("camera_matrix").mat() + dist_coefficients = fs.getNode("distortion_coefficients").mat() + return True, cam_matrix, dist_coefficients + return False, [], [] + + +def main(): + # parse command line options + parser = argparse.ArgumentParser(description="detect markers and corners of charuco board, estimate pose of charuco" + "board", add_help=False) + parser.add_argument("-H", "--help", help="show help", action="store_true", dest="show_help") + parser.add_argument("-v", "--video", help="Input from video or image file, if omitted, input comes from camera", + default="", action="store", dest="v") + parser.add_argument("-i", "--image", help="Input from image file", default="", action="store", dest="img_path") + parser.add_argument("-w", help="Number of squares in X direction", default="3", action="store", dest="w", type=int) + parser.add_argument("-h", help="Number of squares in Y direction", default="3", action="store", dest="h", type=int) + parser.add_argument("-sl", help="Square side length", default="1.", action="store", dest="sl", type=float) + parser.add_argument("-ml", help="Marker side length", default="0.5", action="store", dest="ml", type=float) + parser.add_argument("-d", help="dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2, DICT_4X4_1000=3," + "DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, DICT_6X6_50=8," + "DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12, DICT_7X7_100=13," + "DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}", + default="0", action="store", dest="d", type=int) + parser.add_argument("-ci", help="Camera id if input doesnt come from video (-v)", default="0", action="store", + dest="ci", type=int) + parser.add_argument("-c", help="Input file with calibrated camera parameters", default="", action="store", + dest="cam_param") + + args = parser.parse_args() + + show_help = args.show_help + if show_help: + parser.print_help() + sys.exit() + width = args.w + height = args.h + sqruare_len = args.sl + marker_len = args.ml + dict = args.d + video = args.v + camera_id = args.ci + img_path = args.img_path + + cam_param = args.cam_param + cam_matrix = [] + dist_coefficients = [] + if cam_param != "": + _, cam_matrix, dist_coefficients = read_camera_parameters(cam_param) + + aruco_dict = cv.aruco.getPredefinedDictionary(dict) + board_size = (width, height) + board = cv.aruco.CharucoBoard(board_size, sqruare_len, marker_len, aruco_dict) + charuco_detector = cv.aruco.CharucoDetector(board) + + image = None + input_video = None + wait_time = 10 + if video != "": + input_video = cv.VideoCapture(cv.samples.findFileOrKeep(video, False)) + image = input_video.retrieve()[1] if input_video.grab() else None + elif img_path == "": + input_video = cv.VideoCapture(camera_id) + image = input_video.retrieve()[1] if input_video.grab() else None + elif img_path != "": + wait_time = 0 + image = cv.imread(cv.samples.findFile(img_path, False)) + + if image is None: + print("Error: unable to open video/image source") + sys.exit(0) + + while image is not None: + image_copy = np.copy(image) + charuco_corners, charuco_ids, marker_corners, marker_ids = charuco_detector.detectBoard(image) + if not (marker_ids is None) and len(marker_ids) > 0: + cv.aruco.drawDetectedMarkers(image_copy, marker_corners) + if not (charuco_ids is None) and len(charuco_ids) > 0: + cv.aruco.drawDetectedCornersCharuco(image_copy, charuco_corners, charuco_ids) + if len(cam_matrix) > 0 and len(charuco_ids) >= 4: + try: + obj_points, img_points = board.matchImagePoints(charuco_corners, charuco_ids) + flag, rvec, tvec = cv.solvePnP(obj_points, img_points, cam_matrix, dist_coefficients) + if flag: + cv.drawFrameAxes(image_copy, cam_matrix, dist_coefficients, rvec, tvec, .2) + except cv.error as error_inst: + print("SolvePnP recognize calibration pattern as non-planar pattern. To process this need to use " + "minimum 6 points. The planar pattern may be mistaken for non-planar if the pattern is " + "deformed or incorrect camera parameters are used.") + print(error_inst.err) + cv.imshow("out", image_copy) + key = cv.waitKey(wait_time) + if key == 27: + break + image = input_video.retrieve()[1] if input_video is not None and input_video.grab() else None + + +if __name__ == "__main__": + main()