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Merge pull request #23486 from vovka643:4.x_calibration_with_aruco
Add charuco pattern into calibration.cpp #23486 Added charuco pattern into calibration.cpp. Added charuco pattern with predefined aruco dictionary and with dictionary from file. ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [х] I agree to contribute to the project under Apache 2 License. - [х] 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 - [х] The PR is proposed to the proper branch - [х] There is a reference to the original bug report and related work - [х] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [х] The feature is well documented and sample code can be built with the project CMake
This commit is contained in:
Vladimir Ponomarev
GitHub
parent
d4f29a6361
commit
a174a6c0b5
@ -5,6 +5,7 @@
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#include "opencv2/imgcodecs.hpp"
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#include "opencv2/videoio.hpp"
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#include "opencv2/highgui.hpp"
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#include <opencv2/objdetect/charuco_detector.hpp>
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#include <cctype>
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#include <stdio.h>
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@ -48,15 +49,25 @@ static void help(char** argv)
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{
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printf( "This is a camera calibration sample.\n"
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"Usage: %s\n"
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" -w=<board_width> # the number of inner corners per one of board dimension\n"
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" -h=<board_height> # the number of inner corners per another board dimension\n"
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" [-pt=<pattern>] # the type of pattern: chessboard or circles' grid\n"
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" -w=<board_width> # the calibration board horizontal size in inner corners "
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"for chessboard and in squares or circles for others like ChArUco or circles grid\n"
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" -h=<board_height> # the calibration board verical size in inner corners "
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"for chessboard and in squares or circles for others like ChArUco or circles grid\n"
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" [-pt=<pattern>] # the type of pattern: chessboard, charuco, circles, acircles\n"
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" [-n=<number_of_frames>] # the number of frames to use for calibration\n"
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" # (if not specified, it will be set to the number\n"
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" # of board views actually available)\n"
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" [-d=<delay>] # a minimum delay in ms between subsequent attempts to capture a next view\n"
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" # (used only for video capturing)\n"
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" [-s=<squareSize>] # square size in some user-defined units (1 by default)\n"
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" [-ms=<markerSize>] # marker size in some user-defined units (0.5 by default)\n"
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" [-ad=<arucoDict>] # Aruco dictionary name for ChArUco board. "
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"Available ArUco dictionaries: DICT_4X4_50, DICT_4X4_100, DICT_4X4_250, "
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"DICT_4X4_1000, DICT_5X5_50, DICT_5X5_100, DICT_5X5_250, DICT_5X5_1000, "
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"DICT_6X6_50, DICT_6X6_100, DICT_6X6_250, DICT_6X6_1000, DICT_7X7_50, "
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"DICT_7X7_100, DICT_7X7_250, DICT_7X7_1000, DICT_ARUCO_ORIGINAL, "
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"DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10, DICT_APRILTAG_36h11\n"
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" [-adf=<dictFilename>] # Custom aruco dictionary file for ChArUco board\n"
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" [-o=<out_camera_params>] # the output filename for intrinsic [and extrinsic] parameters\n"
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" [-op] # write detected feature points\n"
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" [-oe] # write extrinsic parameters\n"
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@ -90,7 +101,7 @@ static void help(char** argv)
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}
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enum { DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 };
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enum Pattern { CHESSBOARD, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID };
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enum Pattern { CHESSBOARD, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID, CHARUCOBOARD};
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static double computeReprojectionErrors(
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const vector<vector<Point3f> >& objectPoints,
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@ -139,6 +150,12 @@ static void calcChessboardCorners(Size boardSize, float squareSize, vector<Point
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float(i*squareSize), 0));
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break;
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case CHARUCOBOARD:
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for( int i = 0; i < boardSize.height-1; i++ )
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for( int j = 0; j < boardSize.width-1; j++ )
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corners.push_back(Point3f(float(j*squareSize),
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float(i*squareSize), 0));
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break;
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default:
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CV_Error(Error::StsBadArg, "Unknown pattern type\n");
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}
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@ -161,7 +178,8 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints,
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vector<vector<Point3f> > objectPoints(1);
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calcChessboardCorners(boardSize, squareSize, objectPoints[0], patternType);
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objectPoints[0][boardSize.width - 1].x = objectPoints[0][0].x + grid_width;
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int offset = patternType != CHARUCOBOARD ? boardSize.width - 1: boardSize.width - 2;
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objectPoints[0][offset].x = objectPoints[0][0].x + grid_width;
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newObjPoints = objectPoints[0];
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objectPoints.resize(imagePoints.size(),objectPoints[0]);
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@ -350,10 +368,12 @@ static bool runAndSave(const string& outputFilename,
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int main( int argc, char** argv )
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{
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Size boardSize, imageSize;
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float squareSize, aspectRatio = 1;
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float squareSize, markerSize, aspectRatio = 1;
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Mat cameraMatrix, distCoeffs;
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string outputFilename;
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string inputFilename = "";
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int arucoDict;
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string dictFilename;
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int i, nframes;
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bool writeExtrinsics, writePoints;
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@ -367,12 +387,12 @@ int main( int argc, char** argv )
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clock_t prevTimestamp = 0;
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int mode = DETECTION;
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int cameraId = 0;
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vector<vector<Point2f> > imagePoints;
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vector<vector<Point2f>> imagePoints;
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vector<string> imageList;
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Pattern pattern = CHESSBOARD;
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cv::CommandLineParser parser(argc, argv,
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"{help ||}{w||}{h||}{pt|chessboard|}{n|10|}{d|1000|}{s|1|}{o|out_camera_data.yml|}"
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"{help ||}{w||}{h||}{pt|chessboard|}{n|10|}{d|1000|}{s|1|}{ms|0.5|}{ad|DICT_4X4_50|}{adf|None|}{o|out_camera_data.yml|}"
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"{op||}{oe||}{zt||}{a||}{p||}{v||}{V||}{su||}"
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"{oo||}{ws|11|}{dt||}"
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"{fx||}{fy||}{cx||}{cy||}"
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@ -394,10 +414,43 @@ int main( int argc, char** argv )
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pattern = ASYMMETRIC_CIRCLES_GRID;
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else if( val == "chessboard" )
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pattern = CHESSBOARD;
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else if( val == "charuco" )
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pattern = CHARUCOBOARD;
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else
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return fprintf( stderr, "Invalid pattern type: must be chessboard or circles\n" ), -1;
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}
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squareSize = parser.get<float>("s");
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markerSize = parser.get<float>("ms");
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string arucoDictName = parser.get<string>("ad");
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if (arucoDictName == "DICT_4X4_50") { arucoDict = cv::aruco::DICT_4X4_50; }
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else if (arucoDictName == "DICT_4X4_100") { arucoDict = cv::aruco::DICT_4X4_100; }
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else if (arucoDictName == "DICT_4X4_250") { arucoDict = cv::aruco::DICT_4X4_250; }
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else if (arucoDictName == "DICT_4X4_1000") { arucoDict = cv::aruco::DICT_4X4_1000; }
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else if (arucoDictName == "DICT_5X5_50") { arucoDict = cv::aruco::DICT_5X5_50; }
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else if (arucoDictName == "DICT_5X5_100") { arucoDict = cv::aruco::DICT_5X5_100; }
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else if (arucoDictName == "DICT_5X5_250") { arucoDict = cv::aruco::DICT_5X5_250; }
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else if (arucoDictName == "DICT_5X5_1000") { arucoDict = cv::aruco::DICT_5X5_1000; }
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else if (arucoDictName == "DICT_6X6_50") { arucoDict = cv::aruco::DICT_6X6_50; }
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else if (arucoDictName == "DICT_6X6_100") { arucoDict = cv::aruco::DICT_6X6_100; }
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else if (arucoDictName == "DICT_6X6_250") { arucoDict = cv::aruco::DICT_6X6_250; }
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else if (arucoDictName == "DICT_6X6_1000") { arucoDict = cv::aruco::DICT_6X6_1000; }
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else if (arucoDictName == "DICT_7X7_50") { arucoDict = cv::aruco::DICT_7X7_50; }
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else if (arucoDictName == "DICT_7X7_100") { arucoDict = cv::aruco::DICT_7X7_100; }
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else if (arucoDictName == "DICT_7X7_250") { arucoDict = cv::aruco::DICT_7X7_250; }
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else if (arucoDictName == "DICT_7X7_1000") { arucoDict = cv::aruco::DICT_7X7_1000; }
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else if (arucoDictName == "DICT_ARUCO_ORIGINAL") { arucoDict = cv::aruco::DICT_ARUCO_ORIGINAL; }
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else if (arucoDictName == "DICT_APRILTAG_16h5") { arucoDict = cv::aruco::DICT_APRILTAG_16h5; }
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else if (arucoDictName == "DICT_APRILTAG_25h9") { arucoDict = cv::aruco::DICT_APRILTAG_25h9; }
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else if (arucoDictName == "DICT_APRILTAG_36h10") { arucoDict = cv::aruco::DICT_APRILTAG_36h10; }
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else if (arucoDictName == "DICT_APRILTAG_36h11") { arucoDict = cv::aruco::DICT_APRILTAG_36h11; }
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else {
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cout << "Incorrect Aruco dictionary name " << arucoDictName << std::endl;
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return 1;
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}
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dictFilename = parser.get<std::string>("adf");
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nframes = parser.get<int>("n");
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delay = parser.get<int>("d");
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writePoints = parser.has("op");
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@ -438,7 +491,8 @@ int main( int argc, char** argv )
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{
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flags |= CALIB_FIX_K3;
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}
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float grid_width = squareSize * (boardSize.width - 1);
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float grid_width = squareSize *(pattern != CHARUCOBOARD ? (boardSize.width - 1): (boardSize.width - 2) );
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bool release_object = false;
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if (parser.has("dt")) {
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grid_width = parser.get<float>("dt");
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@ -463,6 +517,22 @@ int main( int argc, char** argv )
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if ( boardSize.height <= 0 )
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return fprintf( stderr, "Invalid board height\n" ), -1;
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cv::aruco::Dictionary dictionary;
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if (dictFilename == "None") {
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std::cout << "Using predefined dictionary with id: " << arucoDict << std::endl;
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dictionary = aruco::getPredefinedDictionary(arucoDict);
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}
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else {
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std::cout << "Using custom dictionary from file: " << dictFilename << std::endl;
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cv::FileStorage dict_file(dictFilename, cv::FileStorage::Mode::READ);
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cv::FileNode fn(dict_file.root());
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dictionary.readDictionary(fn);
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}
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cv::aruco::CharucoBoard ch_board(boardSize, squareSize, markerSize, dictionary);
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std::vector<int> markerIds;
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cv::aruco::CharucoDetector ch_detector(ch_board);
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if( !inputFilename.empty() )
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{
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if( !videofile && readStringList(samples::findFile(inputFilename), imageList) )
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@ -474,7 +544,7 @@ int main( int argc, char** argv )
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capture.open(cameraId);
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if( !capture.isOpened() && imageList.empty() )
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return fprintf( stderr, "Could not initialize video (%d) capture\n",cameraId ), -2;
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return fprintf( stderr, "Could not initialize video (%d) capture\n", cameraId ), -2;
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if( !imageList.empty() )
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nframes = (int)imageList.size();
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@ -529,6 +599,12 @@ int main( int argc, char** argv )
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case ASYMMETRIC_CIRCLES_GRID:
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found = findCirclesGrid( view, boardSize, pointbuf, CALIB_CB_ASYMMETRIC_GRID );
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break;
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case CHARUCOBOARD:
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{
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ch_detector.detectBoard(view, pointbuf, markerIds);
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found = pointbuf.size() == (size_t)(boardSize.width-1)*(boardSize.height-1);
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break;
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}
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default:
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return fprintf( stderr, "Unknown pattern type\n" ), -1;
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}
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@ -546,7 +622,12 @@ int main( int argc, char** argv )
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}
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if(found)
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drawChessboardCorners( view, boardSize, Mat(pointbuf), found );
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{
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if(pattern != CHARUCOBOARD)
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drawChessboardCorners( view, boardSize, Mat(pointbuf), found );
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else
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drawChessboardCorners( view, Size(boardSize.width-1, boardSize.height-1), Mat(pointbuf), found );
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}
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string msg = mode == CAPTURING ? "100/100" :
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mode == CALIBRATED ? "Calibrated" : "Press 'g' to start";
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