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Reworked calibrate.py
- Fixed width and height swap in board size - Fixed defaults in command line hint - Fixed board visualization for Charuco case - Used matchImagePoints method to handle partially detected Charuco boards
This commit is contained in:
Alexander Smorkalov
parent
bf06bc92aa
commit
85ea247cc6
@ -16,11 +16,13 @@ default values:
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-w: 4
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-h: 6
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-t: chessboard
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--square_size: 50
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--marker_size: 25
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--square_size: 10
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--marker_size: 5
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--aruco_dict: DICT_4X4_50
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--threads: 4
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<image mask> defaults to ../data/left*.jpg
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NOTE: Chessboard size is defined in inner corners. Charuco board size is defined in units.
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'''
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# Python 2/3 compatibility
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@ -67,45 +69,38 @@ def main():
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marker_size = float(args.get('--marker_size'))
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aruco_dict_name = str(args.get('--aruco_dict'))
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pattern_size = (height, width)
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pattern_size = (width, height)
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if pattern_type == 'chessboard':
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pattern_points = np.zeros((np.prod(pattern_size), 3), np.float32)
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pattern_points[:, :2] = np.indices(pattern_size).T.reshape(-1, 2)
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pattern_points *= square_size
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elif pattern_type == 'charucoboard':
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pattern_points = np.zeros((np.prod((height-1, width-1)), 3), np.float32)
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pattern_points[:, :2] = np.indices((height-1, width-1)).T.reshape(-1, 2)
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pattern_points *= square_size
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else:
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print("unknown pattern")
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return None
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obj_points = []
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img_points = []
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h, w = cv.imread(img_names[0], cv.IMREAD_GRAYSCALE).shape[:2] # TODO: use imquery call to retrieve results
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aruco_dicts = {
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'DICT_4X4_50':cv.aruco.DICT_4X4_50,
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'DICT_4X4_100':cv.aruco.DICT_4X4_100,
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'DICT_4X4_250':cv.aruco.DICT_4X4_250,
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'DICT_4X4_1000':cv.aruco.DICT_4X4_1000,
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'DICT_5X5_50':cv.aruco.DICT_5X5_50,
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'DICT_5X5_100':cv.aruco.DICT_5X5_100,
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'DICT_5X5_250':cv.aruco.DICT_5X5_250,
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'DICT_5X5_1000':cv.aruco.DICT_5X5_1000,
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'DICT_6X6_50':cv.aruco.DICT_6X6_50,
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'DICT_6X6_100':cv.aruco.DICT_6X6_100,
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'DICT_6X6_250':cv.aruco.DICT_6X6_250,
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'DICT_6X6_1000':cv.aruco.DICT_6X6_1000,
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'DICT_7X7_50':cv.aruco.DICT_7X7_50,
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'DICT_7X7_100':cv.aruco.DICT_7X7_100,
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'DICT_7X7_250':cv.aruco.DICT_7X7_250,
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'DICT_7X7_1000':cv.aruco.DICT_7X7_1000,
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'DICT_ARUCO_ORIGINAL':cv.aruco.DICT_ARUCO_ORIGINAL,
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'DICT_APRILTAG_16h5':cv.aruco.DICT_APRILTAG_16h5,
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'DICT_APRILTAG_25h9':cv.aruco.DICT_APRILTAG_25h9,
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'DICT_APRILTAG_36h10':cv.aruco.DICT_APRILTAG_36h10,
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'DICT_APRILTAG_36h11':cv.aruco.DICT_APRILTAG_36h11
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'DICT_4X4_50': cv.aruco.DICT_4X4_50,
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'DICT_4X4_100': cv.aruco.DICT_4X4_100,
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'DICT_4X4_250': cv.aruco.DICT_4X4_250,
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'DICT_4X4_1000': cv.aruco.DICT_4X4_1000,
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'DICT_5X5_50': cv.aruco.DICT_5X5_50,
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'DICT_5X5_100': cv.aruco.DICT_5X5_100,
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'DICT_5X5_250': cv.aruco.DICT_5X5_250,
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'DICT_5X5_1000': cv.aruco.DICT_5X5_1000,
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'DICT_6X6_50': cv.aruco.DICT_6X6_50,
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'DICT_6X6_100': cv.aruco.DICT_6X6_100,
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'DICT_6X6_250': cv.aruco.DICT_6X6_250,
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'DICT_6X6_1000': cv.aruco.DICT_6X6_1000,
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'DICT_7X7_50': cv.aruco.DICT_7X7_50,
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'DICT_7X7_100': cv.aruco.DICT_7X7_100,
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'DICT_7X7_250': cv.aruco.DICT_7X7_250,
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'DICT_7X7_1000': cv.aruco.DICT_7X7_1000,
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'DICT_ARUCO_ORIGINAL': cv.aruco.DICT_ARUCO_ORIGINAL,
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'DICT_APRILTAG_16h5': cv.aruco.DICT_APRILTAG_16h5,
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'DICT_APRILTAG_25h9': cv.aruco.DICT_APRILTAG_25h9,
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'DICT_APRILTAG_36h10': cv.aruco.DICT_APRILTAG_36h10,
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'DICT_APRILTAG_36h11': cv.aruco.DICT_APRILTAG_36h11
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}
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if (aruco_dict_name not in set(aruco_dicts.keys())):
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@ -130,19 +125,27 @@ def main():
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if found:
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term = (cv.TERM_CRITERIA_EPS + cv.TERM_CRITERIA_COUNT, 30, 0.1)
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cv.cornerSubPix(img, corners, (5, 5), (-1, -1), term)
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frame_img_points = corners.reshape(-1, 2)
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frame_obj_points = pattern_points
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elif pattern_type == 'charucoboard':
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corners, _charucoIds, _markerCorners_svg, _markerIds_svg = charuco_detector.detectBoard(img)
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if (len(corners) == (height-1)*(width-1)):
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corners, charucoIds, _, _ = charuco_detector.detectBoard(img)
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if (len(corners) > 0):
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frame_obj_points, frame_img_points = board.matchImagePoints(corners, charucoIds)
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found = True
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else:
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found = False
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else:
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print("unknown pattern type", pattern_type)
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return None
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if debug_dir:
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vis = cv.cvtColor(img, cv.COLOR_GRAY2BGR)
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cv.drawChessboardCorners(vis, pattern_size, corners, found)
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if pattern_type == 'chessboard':
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cv.drawChessboardCorners(vis, pattern_size, corners, found)
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elif pattern_type == 'charucoboard':
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cv.aruco.drawDetectedCornersCharuco(vis, corners, charucoIds=charucoIds)
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_path, name, _ext = splitfn(fn)
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outfile = os.path.join(debug_dir, name + '_chess.png')
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outfile = os.path.join(debug_dir, name + '_board.png')
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cv.imwrite(outfile, vis)
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if not found:
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@ -150,7 +153,7 @@ def main():
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return None
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print(' %s... OK' % fn)
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return (corners.reshape(-1, 2), pattern_points)
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return (frame_img_points, frame_obj_points)
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threads_num = int(args.get('--threads'))
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if threads_num <= 1:
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@ -177,7 +180,7 @@ def main():
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print('')
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for fn in img_names if debug_dir else []:
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_path, name, _ext = splitfn(fn)
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img_found = os.path.join(debug_dir, name + '_chess.png')
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img_found = os.path.join(debug_dir, name + '_board.png')
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outfile = os.path.join(debug_dir, name + '_undistorted.png')
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img = cv.imread(img_found)
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