Chiebot-Mirror
/
opencv
mirror of https://github.com/opencv/opencv.git
8
0
Fork 0
Code Issues Projects Releases Wiki Activity

Merge pull request #23515 from vovka643:4.x_aruco_stereo_calibration

Browse Source 
added aruco pattern support into stereo_calibration.cpp
pull/23637/head
Alexander Smorkalov 2 years ago committed by GitHub
parent 59ca444b26 fa5c5f4105
commit bcb49d71b4
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 104 additions and 17 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 121
      samples/cpp/stereo_calib.cpp

121
samples/cpp/stereo_calib.cpp
Unescape View File

@ -24,6 +24,7 @@
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/objdetect/charuco_detector.hpp"
#include <vector>
#include <string>
@ -40,21 +41,31 @@ using namespace std;
static int print_help(char** argv)
{
cout <<
" Given a list of chessboard images, the number of corners (nx, ny)\n"
" on the chessboards, and a flag: useCalibrated for \n"
" Given a list of chessboard or ChArUco images, the number of corners (nx, ny)\n"
" on the chessboards and the number of squares (nx, ny) on ChArUco,\n"
" and a flag: useCalibrated for \n"
" calibrated (0) or\n"
" uncalibrated \n"
" (1: use stereoCalibrate(), 2: compute fundamental\n"
" matrix separately) stereo. \n"
" Calibrate the cameras and display the\n"
" rectified results along with the computed disparity images. \n" << endl;
cout << "Usage:\n " << argv[0] << " -w=<board_width default=9> -h=<board_height default=6> -s=<square_size default=1.0> <image list XML/YML file default=stereo_calib.xml>\n" << endl;
cout << "Usage:\n " << argv[0] << " -w=<board_width default=9> -h=<board_height default=6>"
<<" -t=<pattern type: chessboard or charucoboard default=chessboard> -s=<square_size default=1.0> -ms=<marker size default=0.5>"
<<" -ad=<predefined aruco dictionary name default=DICT_4X4_50> -adf=<aruco dictionary file default=None>"
<<" <image list XML/YML file default=stereo_calib.xml>\n" << endl;
cout << "Available Aruco dictionaries: DICT_4X4_50, DICT_4X4_100, DICT_4X4_250, "
<< "DICT_4X4_1000, DICT_5X5_50, DICT_5X5_100, DICT_5X5_250, DICT_5X5_1000, "
<< "DICT_6X6_50, DICT_6X6_100, DICT_6X6_250, DICT_6X6_1000, DICT_7X7_50, "
<< "DICT_7X7_100, DICT_7X7_250, DICT_7X7_1000, DICT_ARUCO_ORIGINAL, "
<< "DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10, DICT_APRILTAG_36h11\n";
return 0;
}
static void
StereoCalib(const vector<string>& imagelist, Size boardSize, float squareSize, bool displayCorners = false, bool useCalibrated=true, bool showRectified=true)
StereoCalib(const vector<string>& imagelist, Size inputBoardSize, string type, float squareSize, float markerSize, cv::aruco::PredefinedDictionaryType arucoDict, string arucoDictFile, bool displayCorners = false, bool useCalibrated=true, bool showRectified=true)
{
if( imagelist.size() % 2 != 0 )
{
@ -75,6 +86,37 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, float squareSize, b
imagePoints[1].resize(nimages);
vector<string> goodImageList;
Size boardSizeInnerCorners, boardSizeUnits;
if (type == "chessboard") {
//chess board pattern boardSize is given in inner corners
boardSizeInnerCorners = inputBoardSize;
boardSizeUnits.height = inputBoardSize.height+1;
boardSizeUnits.width = inputBoardSize.width+1;
}
else if (type == "charucoboard") {
//ChArUco board pattern boardSize is given in squares units
boardSizeUnits = inputBoardSize;
boardSizeInnerCorners.width = inputBoardSize.width - 1;
boardSizeInnerCorners.height = inputBoardSize.height - 1;
}
else {
std::cout << "unknown pattern type " << type << "\n";
return;
}
cv::aruco::Dictionary dictionary;
if (arucoDictFile == "None") {
dictionary = cv::aruco::getPredefinedDictionary(arucoDict);
}
else {
cv::FileStorage dict_file(arucoDictFile, cv::FileStorage::Mode::READ);
cv::FileNode fn(dict_file.root());
dictionary.readDictionary(fn);
}
cv::aruco::CharucoBoard ch_board(boardSizeUnits, squareSize, markerSize, dictionary);
cv::aruco::CharucoDetector ch_detector(ch_board);
std::vector<int> markerIds;
for( i = j = 0; i < nimages; i++ )
{
for( k = 0; k < 2; k++ )
@ -99,8 +141,19 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, float squareSize, b
timg = img;
else
resize(img, timg, Size(), scale, scale, INTER_LINEAR_EXACT);
found = findChessboardCorners(timg, boardSize, corners,
CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_NORMALIZE_IMAGE);
if (type == "chessboard") {
found = findChessboardCorners(timg, boardSizeInnerCorners, corners,
CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_NORMALIZE_IMAGE);
}
else if (type == "charucoboard") {
ch_detector.detectBoard(timg, corners, markerIds);
found = corners.size() == (size_t) (boardSizeInnerCorners.height*boardSizeInnerCorners.width);
}
else {
cout << "Error: unknown pattern " << type << "\n";
return;
}
if( found )
{
if( scale > 1 )
@ -116,7 +169,7 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, float squareSize, b
cout << filename << endl;
Mat cimg, cimg1;
cvtColor(img, cimg, COLOR_GRAY2BGR);
drawChessboardCorners(cimg, boardSize, corners, found);
drawChessboardCorners(cimg, boardSizeInnerCorners, corners, found);
double sf = 640./MAX(img.rows, img.cols);
resize(cimg, cimg1, Size(), sf, sf, INTER_LINEAR_EXACT);
imshow("corners", cimg1);
@ -128,9 +181,11 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, float squareSize, b
putchar('.');
if( !found )
break;
cornerSubPix(img, corners, Size(11,11), Size(-1,-1),
TermCriteria(TermCriteria::COUNT+TermCriteria::EPS,
30, 0.01));
if (type == "chessboard") {
cornerSubPix(img, corners, Size(11, 11), Size(-1, -1),
TermCriteria(TermCriteria::COUNT + TermCriteria::EPS,
30, 0.01));
}
}
if( k == 2 )
{
@ -153,8 +208,8 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, float squareSize, b
for( i = 0; i < nimages; i++ )
{
for( j = 0; j < boardSize.height; j++ )
for( k = 0; k < boardSize.width; k++ )
for( j = 0; j < boardSizeInnerCorners.height; j++ )
for( k = 0; k < boardSizeInnerCorners.width; k++ )
objectPoints[i].push_back(Point3f(k*squareSize, j*squareSize, 0));
}
@ -342,17 +397,49 @@ static bool readStringList( const string& filename, vector<string>& l )
int main(int argc, char** argv)
{
Size boardSize;
Size inputBoardSize;
string imagelistfn;
bool showRectified;
cv::CommandLineParser parser(argc, argv, "{w|9|}{h|6|}{s|1.0|}{nr||}{help||}{@input|stereo_calib.xml|}");
cv::CommandLineParser parser(argc, argv, "{w|9|}{h|6|}{t|chessboard|}{s|1.0|}{ms|0.5|}{ad|DICT_4X4_50|}{adf|None|}{nr||}{help||}{@input|stereo_calib.xml|}");
if (parser.has("help"))
return print_help(argv);
showRectified = !parser.has("nr");
imagelistfn = samples::findFile(parser.get<string>("@input"));
boardSize.width = parser.get<int>("w");
boardSize.height = parser.get<int>("h");
inputBoardSize.width = parser.get<int>("w");
inputBoardSize.height = parser.get<int>("h");
string type = parser.get<string>("t");
float squareSize = parser.get<float>("s");
float markerSize = parser.get<float>("ms");
string arucoDictName = parser.get<string>("ad");
string arucoDictFile = parser.get<string>("adf");
cv::aruco::PredefinedDictionaryType arucoDict;
if (arucoDictName == "DICT_4X4_50") { arucoDict = cv::aruco::DICT_4X4_50; }
else if (arucoDictName == "DICT_4X4_100") { arucoDict = cv::aruco::DICT_4X4_100; }
else if (arucoDictName == "DICT_4X4_250") { arucoDict = cv::aruco::DICT_4X4_250; }
else if (arucoDictName == "DICT_4X4_1000") { arucoDict = cv::aruco::DICT_4X4_1000; }
else if (arucoDictName == "DICT_5X5_50") { arucoDict = cv::aruco::DICT_5X5_50; }
else if (arucoDictName == "DICT_5X5_100") { arucoDict = cv::aruco::DICT_5X5_100; }
else if (arucoDictName == "DICT_5X5_250") { arucoDict = cv::aruco::DICT_5X5_250; }
else if (arucoDictName == "DICT_5X5_1000") { arucoDict = cv::aruco::DICT_5X5_1000; }
else if (arucoDictName == "DICT_6X6_50") { arucoDict = cv::aruco::DICT_6X6_50; }
else if (arucoDictName == "DICT_6X6_100") { arucoDict = cv::aruco::DICT_6X6_100; }
else if (arucoDictName == "DICT_6X6_250") { arucoDict = cv::aruco::DICT_6X6_250; }
else if (arucoDictName == "DICT_6X6_1000") { arucoDict = cv::aruco::DICT_6X6_1000; }
else if (arucoDictName == "DICT_7X7_50") { arucoDict = cv::aruco::DICT_7X7_50; }
else if (arucoDictName == "DICT_7X7_100") { arucoDict = cv::aruco::DICT_7X7_100; }
else if (arucoDictName == "DICT_7X7_250") { arucoDict = cv::aruco::DICT_7X7_250; }
else if (arucoDictName == "DICT_7X7_1000") { arucoDict = cv::aruco::DICT_7X7_1000; }
else if (arucoDictName == "DICT_ARUCO_ORIGINAL") { arucoDict = cv::aruco::DICT_ARUCO_ORIGINAL; }
else if (arucoDictName == "DICT_APRILTAG_16h5") { arucoDict = cv::aruco::DICT_APRILTAG_16h5; }
else if (arucoDictName == "DICT_APRILTAG_25h9") { arucoDict = cv::aruco::DICT_APRILTAG_25h9; }
else if (arucoDictName == "DICT_APRILTAG_36h10") { arucoDict = cv::aruco::DICT_APRILTAG_36h10; }
else if (arucoDictName == "DICT_APRILTAG_36h11") { arucoDict = cv::aruco::DICT_APRILTAG_36h11; }
else {
cout << "incorrect name of aruco dictionary \n";
return 1;
}
if (!parser.check())
{
parser.printErrors();
@ -366,6 +453,6 @@ int main(int argc, char** argv)
return print_help(argv);
}
StereoCalib(imagelist, boardSize, squareSize, false, true, showRectified);
StereoCalib(imagelist, inputBoardSize, type, squareSize, markerSize, arucoDict, arucoDictFile, false, true, showRectified);
return 0;
}

Write Preview
Loading…
Cancel
Save