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Merge pull request #23587 from vovka643:4.x_aruco_calibrate_py
Added charuco pattern into calibrate.py #23587 ### 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 - [x] 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
This commit is contained in:
Vladimir Ponomarev
GitHub
parent
eefee8574a
commit
d2618bfe11
@ -5,11 +5,21 @@ camera calibration for distorted images with chess board samples
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reads distorted images, calculates the calibration and write undistorted images
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usage:
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calibrate.py [--debug <output path>] [--square_size] [<image mask>]
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calibrate.py [--debug <output path>] [-w <width>] [-h <height>] [-t <pattern type>] [--square_size=<square size>]
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[--marker_size=<aruco marker size>] [--aruco_dict=<aruco dictionary name>] [<image mask>]
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usage example:
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calibrate.py -w 4 -h 6 -t chessboard --square_size=50 ../data/left*.jpg
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default values:
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--debug: ./output/
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--square_size: 1.0
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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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--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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'''
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@ -30,31 +40,81 @@ def main():
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import getopt
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from glob import glob
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args, img_mask = getopt.getopt(sys.argv[1:], '', ['debug=', 'square_size=', 'threads='])
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args, img_names = getopt.getopt(sys.argv[1:], 'w:h:t:', ['debug=','square_size=', 'marker_size=',
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'aruco_dict=', 'threads=', ])
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args = dict(args)
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args.setdefault('--debug', './output/')
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args.setdefault('--square_size', 1.0)
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args.setdefault('-w', 4)
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args.setdefault('-h', 6)
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args.setdefault('-t', 'chessboard')
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args.setdefault('--square_size', 10)
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args.setdefault('--marker_size', 5)
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args.setdefault('--aruco_dict', 'DICT_4X4_50')
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args.setdefault('--threads', 4)
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if not img_mask:
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img_mask = '../data/left??.jpg' # default
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else:
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img_mask = img_mask[0]
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img_names = glob(img_mask)
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if not img_names:
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img_mask = '../data/left??.jpg' # default
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img_names = glob(img_mask)
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debug_dir = args.get('--debug')
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if debug_dir and not os.path.isdir(debug_dir):
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os.mkdir(debug_dir)
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square_size = float(args.get('--square_size'))
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pattern_size = (9, 6)
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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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height = int(args.get('-h'))
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width = int(args.get('-w'))
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pattern_type = str(args.get('-t'))
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square_size = float(args.get('--square_size'))
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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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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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}
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if (aruco_dict_name not in set(aruco_dicts.keys())):
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print("unknown aruco dictionary name")
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return None
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aruco_dict = cv.aruco.getPredefinedDictionary(aruco_dicts[aruco_dict_name])
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board = cv.aruco.CharucoBoard(pattern_size, square_size, marker_size, aruco_dict)
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charuco_detector = cv.aruco.CharucoDetector(board)
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def processImage(fn):
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print('processing %s... ' % fn)
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img = cv.imread(fn, cv.IMREAD_GRAYSCALE)
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@ -63,10 +123,20 @@ def main():
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return None
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assert w == img.shape[1] and h == img.shape[0], ("size: %d x %d ... " % (img.shape[1], img.shape[0]))
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found, corners = cv.findChessboardCorners(img, pattern_size)
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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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found = False
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corners = 0
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if pattern_type == 'chessboard':
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found, corners = cv.findChessboardCorners(img, pattern_size)
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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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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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found = True
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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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@ -76,7 +146,7 @@ def main():
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cv.imwrite(outfile, vis)
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if not found:
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print('chessboard not found')
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print('pattern not found')
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return None
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print(' %s... OK' % fn)
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