mirror of
https://github.com/opencv/opencv.git
synced 2024-12-16 02:19:12 +08:00
116 lines
5.3 KiB
Python
116 lines
5.3 KiB
Python
#!/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
|
|
square_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, square_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()
|