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Code Issues Releases Wiki Activity

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

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This commit is contained in:
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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24
modules/aruco/samples/tutorial_charuco_create_detect.cpp
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@@ -4,27 +4,14 @@
#include <opencv2/highgui.hpp>
#include <iostream>
#include <string>
#include "aruco_samples_utility.hpp"
namespace {
const char* about = "A tutorial code on charuco board creation and detection of charuco board with and without camera caliberation";
const char* keys = "{c | | Put value of c=1 to create charuco board;\nc=2 to detect charuco board without camera calibration;\nc=3 to detect charuco board with camera calibration and Pose Estimation}";
}
void createBoard();
void detectCharucoBoardWithCalibrationPose();
void detectCharucoBoardWithoutCalibration();
static bool readCameraParameters(std::string filename, cv::Mat& camMatrix, cv::Mat& distCoeffs)
{
cv::FileStorage fs(filename, cv::FileStorage::READ);
if (!fs.isOpened())
return false;
fs["camera_matrix"] >> camMatrix;
fs["distortion_coefficients"] >> distCoeffs;
return (camMatrix.size() == cv::Size(3,3)) ;
}
void createBoard()
static inline void createBoard()
{
cv::Ptr<cv::aruco::Dictionary> dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
//! [createBoard]
@@ -36,7 +23,7 @@ void createBoard()
}
//! [detwcp]
void detectCharucoBoardWithCalibrationPose()
static inline void detectCharucoBoardWithCalibrationPose()
{
cv::VideoCapture inputVideo;
inputVideo.open(0);
@@ -81,9 +68,8 @@ void detectCharucoBoardWithCalibrationPose()
//! [detcor]
cv::Vec3d rvec, tvec;
//! [pose]
// cv::aruco::estimatePoseCharucoBoard(charucoCorners, charucoIds, board, cameraMatrix, distCoeffs, rvec, tvec);
//! [pose]
bool valid = cv::aruco::estimatePoseCharucoBoard(charucoCorners, charucoIds, board, cameraMatrix, distCoeffs, rvec, tvec);
//! [pose]
// if charuco pose is valid
if (valid)
cv::aruco::drawAxis(imageCopy, cameraMatrix, distCoeffs, rvec, tvec, 0.1f);
@@ -99,7 +85,7 @@ void detectCharucoBoardWithCalibrationPose()
//! [detwcp]
//! [detwc]
void detectCharucoBoardWithoutCalibration()
static inline void detectCharucoBoardWithoutCalibration()
{
cv::VideoCapture inputVideo;
inputVideo.open(0);