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fix ArUco, ChArUco, diamonds, add read dictionary/params, add calibration photos, add tests, add aruco_samples_utility.hpp

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Aleksandr Panov
2021-12-18 14:19:07 +03:00
parent 5cc328d37a
commit a965b9bbf2
42 changed files with 749 additions and 430 deletions
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100
modules/aruco/samples/calibrate_camera.cpp
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@@ -44,6 +44,7 @@ the use of this software, even if advised of the possibility of such damage.
#include <vector>
#include <iostream>
#include <ctime>
#include "aruco_samples_utility.hpp"
using namespace std;
using namespace cv;
@@ -64,6 +65,7 @@ const char* keys =
"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}"
"{cd | | Input file with custom dictionary }"
"{@outfile |<none> | Output file with calibrated camera parameters }"
"{v | | Input from video file, if ommited, input comes from camera }"
"{ci | 0 | Camera id if input doesnt come from video (-v) }"
@@ -74,80 +76,7 @@ const char* keys =
"{pc | false | Fix the principal point at the center }";
}
/**
*/
static bool readDetectorParameters(string filename, Ptr<aruco::DetectorParameters> &params) {
FileStorage fs(filename, FileStorage::READ);
if(!fs.isOpened())
return false;
fs["adaptiveThreshWinSizeMin"] >> params->adaptiveThreshWinSizeMin;
fs["adaptiveThreshWinSizeMax"] >> params->adaptiveThreshWinSizeMax;
fs["adaptiveThreshWinSizeStep"] >> params->adaptiveThreshWinSizeStep;
fs["adaptiveThreshConstant"] >> params->adaptiveThreshConstant;
fs["minMarkerPerimeterRate"] >> params->minMarkerPerimeterRate;
fs["maxMarkerPerimeterRate"] >> params->maxMarkerPerimeterRate;
fs["polygonalApproxAccuracyRate"] >> params->polygonalApproxAccuracyRate;
fs["minCornerDistanceRate"] >> params->minCornerDistanceRate;
fs["minDistanceToBorder"] >> params->minDistanceToBorder;
fs["minMarkerDistanceRate"] >> params->minMarkerDistanceRate;
fs["cornerRefinementMethod"] >> params->cornerRefinementMethod;
fs["cornerRefinementWinSize"] >> params->cornerRefinementWinSize;
fs["cornerRefinementMaxIterations"] >> params->cornerRefinementMaxIterations;
fs["cornerRefinementMinAccuracy"] >> params->cornerRefinementMinAccuracy;
fs["markerBorderBits"] >> params->markerBorderBits;
fs["perspectiveRemovePixelPerCell"] >> params->perspectiveRemovePixelPerCell;
fs["perspectiveRemoveIgnoredMarginPerCell"] >> params->perspectiveRemoveIgnoredMarginPerCell;
fs["maxErroneousBitsInBorderRate"] >> params->maxErroneousBitsInBorderRate;
fs["minOtsuStdDev"] >> params->minOtsuStdDev;
fs["errorCorrectionRate"] >> params->errorCorrectionRate;
return true;
}
/**
*/
static bool saveCameraParams(const string &filename, Size imageSize, float aspectRatio, int flags,
const Mat &cameraMatrix, const Mat &distCoeffs, double totalAvgErr) {
FileStorage fs(filename, FileStorage::WRITE);
if(!fs.isOpened())
return false;
time_t tt;
time(&tt);
struct tm *t2 = localtime(&tt);
char buf[1024];
strftime(buf, sizeof(buf) - 1, "%c", t2);
fs << "calibration_time" << buf;
fs << "image_width" << imageSize.width;
fs << "image_height" << imageSize.height;
if(flags & CALIB_FIX_ASPECT_RATIO) fs << "aspectRatio" << aspectRatio;
if(flags != 0) {
sprintf(buf, "flags: %s%s%s%s",
flags & CALIB_USE_INTRINSIC_GUESS ? "+use_intrinsic_guess" : "",
flags & CALIB_FIX_ASPECT_RATIO ? "+fix_aspectRatio" : "",
flags & CALIB_FIX_PRINCIPAL_POINT ? "+fix_principal_point" : "",
flags & CALIB_ZERO_TANGENT_DIST ? "+zero_tangent_dist" : "");
}
fs << "flags" << flags;
fs << "camera_matrix" << cameraMatrix;
fs << "distortion_coefficients" << distCoeffs;
fs << "avg_reprojection_error" << totalAvgErr;
return true;
}
/**
*/
int main(int argc, char *argv[]) {
CommandLineParser parser(argc, argv, keys);
parser.about(about);
@@ -161,7 +90,6 @@ int main(int argc, char *argv[]) {
int markersY = parser.get<int>("h");
float markerLength = parser.get<float>("l");
float markerSeparation = parser.get<float>("s");
int dictionaryId = parser.get<int>("d");
string outputFile = parser.get<String>(0);
int calibrationFlags = 0;
@@ -173,9 +101,10 @@ int main(int argc, char *argv[]) {
if(parser.get<bool>("zt")) calibrationFlags |= CALIB_ZERO_TANGENT_DIST;
if(parser.get<bool>("pc")) calibrationFlags |= CALIB_FIX_PRINCIPAL_POINT;
Ptr<aruco::DetectorParameters> detectorParams = aruco::DetectorParameters::create();
Ptr<aruco::DetectorParameters> detectorParams;
if(parser.has("dp")) {
bool readOk = readDetectorParameters(parser.get<string>("dp"), detectorParams);
FileStorage fs(parser.get<string>("dp"), FileStorage::READ);
bool readOk = aruco::DetectorParameters::readDetectorParameters(fs.root(), detectorParams);
if(!readOk) {
cerr << "Invalid detector parameters file" << endl;
return 0;
@@ -205,8 +134,23 @@ int main(int argc, char *argv[]) {
waitTime = 10;
}
Ptr<aruco::Dictionary> dictionary =
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
Ptr<aruco::Dictionary> dictionary;
if (parser.has("d")) {
int dictionaryId = parser.get<int>("d");
dictionary = aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
}
else if (parser.has("cd")) {
FileStorage fs(parser.get<std::string>("cd"), FileStorage::READ);
bool readOk = aruco::Dictionary::readDictionary(fs.root(), dictionary);
if(!readOk) {
cerr << "Invalid dictionary file" << endl;
return 0;
}
}
else {
cerr << "Dictionary not specified" << endl;
return 0;
}
// create board object
Ptr<aruco::GridBoard> gridboard =