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Merge pull request #1153 from atinfinity:fixed_aruco_tutorial

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pull/1162/head
Maksim Shabunin 8 years ago
parent 6bca9e842a ebc255b025
commit fa94c16065
5 changed files with 70 additions and 69 deletions
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  1. 24
      modules/aruco/tutorials/aruco_board_detection/aruco_board_detection.markdown
  2. 8
      modules/aruco/tutorials/aruco_calibration/aruco_calibration.markdown
  3. 31
      modules/aruco/tutorials/aruco_detection/aruco_detection.markdown
  4. 42
      modules/aruco/tutorials/charuco_detection/charuco_detection.markdown
  5. 2
      modules/aruco/tutorials/charuco_diamond_detection/charuco_diamond_detection.markdown

24
modules/aruco/tutorials/aruco_board_detection/aruco_board_detection.markdown
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@ -30,7 +30,7 @@ The aruco module allows the use of Boards. The main class is the ```cv::aruco::B
class Board { class Board {
public: public:
std::vector<std::vector<cv::Point3f> > objPoints; std::vector<std::vector<cv::Point3f> > objPoints;
cv::aruco::Dictionary dictionary; cv::Ptr<cv::aruco::Dictionary> dictionary;
std::vector<int> ids; std::vector<int> ids;
}; };
``` ```
@ -57,10 +57,10 @@ The aruco module provides a specific function, ```estimatePoseBoard()```, to per
cv::Mat cameraMatrix, distCoeffs; cv::Mat cameraMatrix, distCoeffs;
readCameraParameters(cameraMatrix, distCoeffs); readCameraParameters(cameraMatrix, distCoeffs);
// assume we have a function to create the board object // assume we have a function to create the board object
cv::aruco::Board board = createBoard(); cv::Ptr<cv::aruco::Board> board = cv::aruco::Board::create();
... ...
vector< int > markerIds; std::vector<int> markerIds;
vector< vector<Point2f> > markerCorners; std::vector<std::vector<cv::Point2f>> markerCorners;
cv::aruco::detectMarkers(inputImage, board.dictionary, markerCorners, markerIds); cv::aruco::detectMarkers(inputImage, board.dictionary, markerCorners, markerIds);
// if at least one marker detected // if at least one marker detected
if(markerIds.size() > 0) { if(markerIds.size() > 0) {
@ -137,9 +137,9 @@ After creating a Grid Board, we probably want to print it and use it. A function
of a ```GridBoard``` is provided in ```cv::aruco::GridBoard::draw()```. For example: of a ```GridBoard``` is provided in ```cv::aruco::GridBoard::draw()```. For example:
``` c++ ``` c++
cv::aruco::GridBoard board = cv::aruco::GridBoard::create(5, 7, 0.04, 0.01, dictionary); cv::Ptr<cv::aruco::GridBoard> board = cv::aruco::GridBoard::create(5, 7, 0.04, 0.01, dictionary);
cv::Mat boardImage; cv::Mat boardImage;
board.draw( cv::Size(600, 500), boardImage, 10, 1 ); board->draw( cv::Size(600, 500), boardImage, 10, 1 );
``` ```
- The first parameter is the size of the output image in pixels. In this case 600x500 pixels. If this is not proportional - The first parameter is the size of the output image in pixels. In this case 600x500 pixels. If this is not proportional
@ -170,8 +170,8 @@ Finally, a full example of board detection:
// camera parameters are read from somewhere // camera parameters are read from somewhere
readCameraParameters(cameraMatrix, distCoeffs); readCameraParameters(cameraMatrix, distCoeffs);
cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250); cv::Ptr<cv::aruco::Dictionary> dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
cv::aruco::GridBoard board = cv::aruco::GridBoard::create(5, 7, 0.04, 0.01, dictionary); cv::Ptr<cv::aruco::GridBoard> board = cv::aruco::GridBoard::create(5, 7, 0.04, 0.01, dictionary);
while (inputVideo.grab()) { while (inputVideo.grab()) {
cv::Mat image, imageCopy; cv::Mat image, imageCopy;
@ -256,10 +256,10 @@ internal bits are not analyzed at all and only the corner distances are evaluate
This is an example of using the ```refineDetectedMarkers()``` function: This is an example of using the ```refineDetectedMarkers()``` function:
``` c++ ``` c++
cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250); cv::Ptr<cv::aruco::Dictionary> dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
cv::aruco::GridBoard board = cv::aruco::GridBoard::create(5, 7, 0.04, 0.01, dictionary); cv::Ptr<cv::aruco::GridBoard> board = cv::aruco::GridBoard::create(5, 7, 0.04, 0.01, dictionary);
vector< int > markerIds; std::vector<int> markerIds;
vector< vector<Point2f> > markerCorners, rejectedCandidates; std::vector<std::vector<cv::Point2f>> markerCorners, rejectedCandidates;
cv::aruco::detectMarkers(inputImage, dictionary, markerCorners, markerIds, cv::aruco::DetectorParameters(), rejectedCandidates); cv::aruco::detectMarkers(inputImage, dictionary, markerCorners, markerIds, cv::aruco::DetectorParameters(), rejectedCandidates);
cv::aruco::refineDetectedMarkersinputImage, board, markerCorners, markerIds, rejectedCandidates); cv::aruco::refineDetectedMarkersinputImage, board, markerCorners, markerIds, rejectedCandidates);

8
modules/aruco/tutorials/aruco_calibration/aruco_calibration.markdown
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@ -33,7 +33,7 @@ visible in all the viewpoints.
The function to calibrate is ```calibrateCameraCharuco()```. Example: The function to calibrate is ```calibrateCameraCharuco()```. Example:
``` c++ ``` c++
aruco::CharucoBoard board = ... // create charuco board cv::Ptr<aruco::CharucoBoard> board = ... // create charuco board
cv::Size imgSize = ... // camera image size cv::Size imgSize = ... // camera image size
std::vector<std::vector<cv::Point2f>> allCharucoCorners; std::vector<std::vector<cv::Point2f>> allCharucoCorners;
@ -44,7 +44,7 @@ The function to calibrate is ```calibrateCameraCharuco()```. Example:
// After capturing in several viewpoints, start calibration // After capturing in several viewpoints, start calibration
cv::Mat cameraMatrix, distCoeffs; cv::Mat cameraMatrix, distCoeffs;
std::vector< Mat > rvecs, tvecs; std::vector<cv::Mat> rvecs, tvecs;
int calibrationFlags = ... // Set calibration flags (same than in calibrateCamera() function) int calibrationFlags = ... // Set calibration flags (same than in calibrateCamera() function)
double repError = cv::aruco::calibrateCameraCharuco(allCharucoCorners, allCharucoIds, board, imgSize, cameraMatrix, distCoeffs, rvecs, tvecs, calibrationFlags); double repError = cv::aruco::calibrateCameraCharuco(allCharucoCorners, allCharucoIds, board, imgSize, cameraMatrix, distCoeffs, rvecs, tvecs, calibrationFlags);
@ -81,7 +81,7 @@ requires the detections of an ArUco board from different viewpoints.
Example of ```calibrateCameraAruco()``` use: Example of ```calibrateCameraAruco()``` use:
``` c++ ``` c++
aruco::Board board = ... // create aruco board cv::Ptr<aruco::Board> board = ... // create aruco board
cv::Size imgSize = ... // camera image size cv::Size imgSize = ... // camera image size
std::vector<std::vector<cv::Point2f>> allCornersConcatenated; std::vector<std::vector<cv::Point2f>> allCornersConcatenated;
@ -93,7 +93,7 @@ Example of ```calibrateCameraAruco()``` use:
// After capturing in several viewpoints, start calibration // After capturing in several viewpoints, start calibration
cv::Mat cameraMatrix, distCoeffs; cv::Mat cameraMatrix, distCoeffs;
std::vector< Mat > rvecs, tvecs; std::vector<cv::Mat> rvecs, tvecs;
int calibrationFlags = ... // Set calibration flags (same than in calibrateCamera() function) int calibrationFlags = ... // Set calibration flags (same than in calibrateCamera() function)
double repError = cv::aruco::calibrateCameraAruco(allCornersConcatenated, allIdsConcatenated, markerCounterPerFrame, board, imgSize, cameraMatrix, distCoeffs, rvecs, tvecs, calibrationFlags); double repError = cv::aruco::calibrateCameraAruco(allCornersConcatenated, allIdsConcatenated, markerCounterPerFrame, board, imgSize, cameraMatrix, distCoeffs, rvecs, tvecs, calibrationFlags);

31
modules/aruco/tutorials/aruco_detection/aruco_detection.markdown
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@ -20,7 +20,7 @@ a popular library for detection of square fiducial markers developed by Rafael M
The aruco functionalities are included in: The aruco functionalities are included in:
``` c++ ``` c++
\#include <opencv2/aruco.hpp> #include <opencv2/aruco.hpp>
``` ```
@ -71,7 +71,7 @@ For example, lets analyze the following call:
``` c++ ``` c++
cv::Mat markerImage; cv::Mat markerImage;
cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250); cv::Ptr<cv::aruco::Dictionary> dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
cv::aruco::drawMarker(dictionary, 23, 200, markerImage, 1); cv::aruco::drawMarker(dictionary, 23, 200, markerImage, 1);
``` ```
@ -156,10 +156,10 @@ An example of marker detection:
``` c++ ``` c++
cv::Mat inputImage; cv::Mat inputImage;
... ...
vector< int > markerIds; std::vector<int> markerIds;
vector< vector<Point2f> > markerCorners, rejectedCandidates; std::vector<std::vector<cv::Point2f>> markerCorners, rejectedCandidates;
cv::aruco::DetectorParameters parameters; cv::Ptr<cv::aruco::DetectorParameters> parameters;
cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250); cv::Ptr<cv::aruco::Dictionary> dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
cv::aruco::detectMarkers(inputImage, dictionary, markerCorners, markerIds, parameters, rejectedCandidates); cv::aruco::detectMarkers(inputImage, dictionary, markerCorners, markerIds, parameters, rejectedCandidates);
``` ```
@ -204,7 +204,7 @@ camera:
``` c++ ``` c++
cv::VideoCapture inputVideo; cv::VideoCapture inputVideo;
inputVideo.open(0); inputVideo.open(0);
cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250); cv::Ptr<cv::aruco::Dictionary> dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
while (inputVideo.grab()) { while (inputVideo.grab()) {
cv::Mat image, imageCopy; cv::Mat image, imageCopy;
inputVideo.retrieve(image); inputVideo.retrieve(image);
@ -263,9 +263,9 @@ information).
The aruco module provides a function to estimate the poses of all the detected markers: The aruco module provides a function to estimate the poses of all the detected markers:
``` c++ ``` c++
Mat cameraMatrix, distCoeffs; cv::Mat cameraMatrix, distCoeffs;
... ...
vector< Vec3d > rvecs, tvecs; std::vector<cv::Vec3d> rvecs, tvecs;
cv::aruco::estimatePoseSingleMarkers(corners, 0.05, cameraMatrix, distCoeffs, rvecs, tvecs); cv::aruco::estimatePoseSingleMarkers(corners, 0.05, cameraMatrix, distCoeffs, rvecs, tvecs);
``` ```
@ -303,7 +303,7 @@ A basic full example for pose estimation from single markers:
// camera parameters are read from somewhere // camera parameters are read from somewhere
readCameraParameters(cameraMatrix, distCoeffs); readCameraParameters(cameraMatrix, distCoeffs);
cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250); cv::Ptr<cv::aruco::Dictionary> dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
while (inputVideo.grab()) { while (inputVideo.grab()) {
cv::Mat image, imageCopy; cv::Mat image, imageCopy;
@ -318,7 +318,7 @@ A basic full example for pose estimation from single markers:
if (ids.size() > 0) { if (ids.size() > 0) {
cv::aruco::drawDetectedMarkers(imageCopy, corners, ids); cv::aruco::drawDetectedMarkers(imageCopy, corners, ids);
vector< Mat > rvecs, tvecs; std::vector<cv::Mat> rvecs, tvecs;
cv::aruco::estimatePoseSingleMarkers(corners, 0.05, cameraMatrix, distCoeffs, rvecs, tvecs); cv::aruco::estimatePoseSingleMarkers(corners, 0.05, cameraMatrix, distCoeffs, rvecs, tvecs);
// draw axis for each marker // draw axis for each marker
for(int i=0; i<ids.size(); i++) for(int i=0; i<ids.size(); i++)
@ -374,7 +374,7 @@ This is the easiest way to select a dictionary. The aruco module includes a set
of a variety of marker sizes and number of markers. For instance: of a variety of marker sizes and number of markers. For instance:
``` c++ ``` c++
cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250); cv::Ptr<cv::aruco::Dictionary> dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
``` ```
DICT_6X6_250 is an example of predefined dictionary of markers with 6x6 bits and a total of 250 DICT_6X6_250 is an example of predefined dictionary of markers with 6x6 bits and a total of 250
@ -390,7 +390,7 @@ The dictionary can be generated automatically to adjust to the desired number of
the inter-marker distance is optimized: the inter-marker distance is optimized:
``` c++ ``` c++
cv::aruco::Dictionary dictionary = cv::aruco::generateCustomDictionary(36, 5); cv::Ptr<cv::aruco::Dictionary> dictionary = cv::aruco::generateCustomDictionary(36, 5);
``` ```
This will generate a customized dictionary composed by 36 markers of 5x5 bits. The process can take several This will generate a customized dictionary composed by 36 markers of 5x5 bits. The process can take several
@ -432,7 +432,7 @@ Fortunately, a marker can be easily transformed to this form using the static me
For example: For example:
``` c++ ``` c++
Dictionary dictionary; cv::aruco::Dictionary dictionary;
// markers of 6x6 bits // markers of 6x6 bits
dictionary.markerSize = 6; dictionary.markerSize = 6;
// maximum number of bit corrections // maximum number of bit corrections
@ -440,10 +440,11 @@ For example:
// lets create a dictionary of 100 markers // lets create a dictionary of 100 markers
for(int i=0; i<100; i++) for(int i=0; i<100; i++)
{
// assume generateMarkerBits() generate a new marker in binary format, so that // assume generateMarkerBits() generate a new marker in binary format, so that
// markerBits is a 6x6 matrix of CV_8UC1 type, only containing 0s and 1s // markerBits is a 6x6 matrix of CV_8UC1 type, only containing 0s and 1s
cv::Mat markerBits = generateMarkerBits(); cv::Mat markerBits = generateMarkerBits();
cv::Mat markerCompressed = getByteListFromBits(markerBits); cv::Mat markerCompressed = cv::aruco::Dictionary::getByteListFromBits(markerBits);
// add the marker as a new row // add the marker as a new row
dictionary.bytesList.push_back(markerCompressed); dictionary.bytesList.push_back(markerCompressed);
} }

42
modules/aruco/tutorials/charuco_detection/charuco_detection.markdown
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@ -29,7 +29,7 @@ The aruco module provides the ```cv::aruco::CharucoBoard``` class that represent
This class, as the rest of ChArUco functionalities, are defined in: This class, as the rest of ChArUco functionalities, are defined in:
``` c++ ``` c++
\#include <opencv2/aruco/charuco.hpp> #include <opencv2/aruco/charuco.hpp>
``` ```
To define a ```CharucoBoard```, it is necesary: To define a ```CharucoBoard```, it is necesary:
@ -60,9 +60,9 @@ Once we have our ```CharucoBoard``` object, we can create an image to print it.
```CharucoBoard::draw()``` method: ```CharucoBoard::draw()``` method:
``` c++ ``` c++
cv::aruco::CharucoBoard board = cv::aruco::CharucoBoard::create(5, 7, 0.04, 0.02, dictionary); cv::Ptr<cv::aruco::CharucoBoard> board = cv::aruco::CharucoBoard::create(5, 7, 0.04, 0.02, dictionary);
cv::Mat boardImage; cv::Mat boardImage;
board.draw( cv::Size(600, 500), boardImage, 10, 1 ); board->draw( cv::Size(600, 500), boardImage, 10, 1 );
``` ```
- The first parameter is the size of the output image in pixels. In this case 600x500 pixels. If this is not proportional - The first parameter is the size of the output image in pixels. In this case 600x500 pixels. If this is not proportional
@ -94,8 +94,8 @@ in the board.
So, a detected ChArUco board consists in: So, a detected ChArUco board consists in:
- ```vector<Point2f> charucoCorners``` : list of image positions of the detected corners. - ```std::vector<cv::Point2f> charucoCorners``` : list of image positions of the detected corners.
- ```vector <int> charucoIds``` : ids for each of the detected corners in ```charucoCorners```. - ```std::vector<int> charucoIds``` : ids for each of the detected corners in ```charucoCorners```.
The detection of the ChArUco corners is based on the previous detected markers. So that, first markers are detected, and then The detection of the ChArUco corners is based on the previous detected markers. So that, first markers are detected, and then
ChArUco corners are interpolated from markers. ChArUco corners are interpolated from markers.
@ -107,11 +107,11 @@ The function that detect the ChArUco corners is ```cv::aruco::interpolateCorners
cv::Mat cameraMatrix, distCoeffs; cv::Mat cameraMatrix, distCoeffs;
// camera parameters are read from somewhere // camera parameters are read from somewhere
readCameraParameters(cameraMatrix, distCoeffs); readCameraParameters(cameraMatrix, distCoeffs);
cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250); cv::Ptr<cv::aruco::Dictionary> dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
cv::aruco::CharucoBoard board = cv::aruco::CharucoBoard::create(5, 7, 0.04, 0.02, dictionary); cv::Ptr<cv::aruco::CharucoBoard> board = cv::aruco::CharucoBoard::create(5, 7, 0.04, 0.02, dictionary);
... ...
vector< int > markerIds; std::vector<int> markerIds;
vector< vector<Point2f> > markerCorners; std::vector<std::vector<cv::Point2f>> markerCorners;
cv::aruco::detectMarkers(inputImage, board.dictionary, markerCorners, markerIds); cv::aruco::detectMarkers(inputImage, board.dictionary, markerCorners, markerIds);
// if at least one marker detected // if at least one marker detected
@ -136,13 +136,13 @@ are optional. A similar example without these parameters would be:
``` c++ ``` c++
cv::Mat inputImage; cv::Mat inputImage;
cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250); cv::Ptr<cv::aruco::Dictionary> dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
cv::aruco::CharucoBoard board = cv::aruco::CharucoBoard::create(5, 7, 0.04, 0.02, dictionary); cv::Ptr<cv::aruco::CharucoBoard> board = cv::aruco::CharucoBoard::create(5, 7, 0.04, 0.02, dictionary);
... ...
vector< int > markerIds; std::vector<int> markerIds;
vector< vector<Point2f> > markerCorners; std::vector<std::vector<cv::Point2f>> markerCorners;
DetectorParameters params; cv::Ptr<cv::aruco::DetectorParameters> params;
params.doCornerRefinement = false; params->doCornerRefinement = false;
cv::aruco::detectMarkers(inputImage, board.dictionary, markerCorners, markerIds, params); cv::aruco::detectMarkers(inputImage, board.dictionary, markerCorners, markerIds, params);
// if at least one marker detected // if at least one marker detected
@ -203,11 +203,11 @@ Finally, this is a full example of ChArUco detection (without using calibration
cv::VideoCapture inputVideo; cv::VideoCapture inputVideo;
inputVideo.open(0); inputVideo.open(0);
cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250); cv::Ptr<cv::aruco::Dictionary> dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
cv::aruco::CharucoBoard board = cv::aruco::CharucoBoard::create(5, 7, 0.04, 0.02, dictionary); cv::Ptr<cv::aruco::CharucoBoard> board = cv::aruco::CharucoBoard::create(5, 7, 0.04, 0.02, dictionary);
DetectorParameters params; cv::Ptr<cv::aruco::DetectorParameters> params;
params.doCornerRefinement = false; params->doCornerRefinement = false;
while (inputVideo.grab()) { while (inputVideo.grab()) {
cv::Mat image, imageCopy; cv::Mat image, imageCopy;
@ -286,8 +286,8 @@ A full example of ChArUco detection with pose estimation:
// camera parameters are read from somewhere // camera parameters are read from somewhere
readCameraParameters(cameraMatrix, distCoeffs); readCameraParameters(cameraMatrix, distCoeffs);
cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250); cv::Ptr<cv::aruco::Dictionary> dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
cv::aruco::CharucoBoard board = cv::aruco::CharucoBoard::create(5, 7, 0.04, 0.02, dictionary); cv::Ptr<cv::aruco::CharucoBoard> board = cv::aruco::CharucoBoard::create(5, 7, 0.04, 0.02, dictionary);
while (inputVideo.grab()) { while (inputVideo.grab()) {
cv::Mat image, imageCopy; cv::Mat image, imageCopy;

2
modules/aruco/tutorials/charuco_diamond_detection/charuco_diamond_detection.markdown
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@ -46,7 +46,7 @@ For instance:
``` c++ ``` c++
cv::Mat diamondImage; cv::Mat diamondImage;
cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250); cv::Ptr<cv::aruco::Dictionary> dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
cv::aruco::drawCharucoDiamond(dictionary, cv::Vec4i(45,68,28,74), 200, 120, markerImage); cv::aruco::drawCharucoDiamond(dictionary, cv::Vec4i(45,68,28,74), 200, 120, markerImage);
``` ```

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