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242 lines
8.9 KiB
C++
242 lines
8.9 KiB
C++
/*
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By downloading, copying, installing or using the software you agree to this
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license. If you do not agree to this license, do not download, install,
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copy or use the software.
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License Agreement
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For Open Source Computer Vision Library
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(3-clause BSD License)
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Copyright (C) 2013, OpenCV Foundation, all rights reserved.
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Third party copyrights are property of their respective owners.
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Redistribution and use in source and binary forms, with or without modification,
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are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice,
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this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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* Neither the names of the copyright holders nor the names of the contributors
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may be used to endorse or promote products derived from this software
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without specific prior written permission.
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This software is provided by the copyright holders and contributors "as is" and
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any express or implied warranties, including, but not limited to, the implied
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warranties of merchantability and fitness for a particular purpose are
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disclaimed. In no event shall copyright holders or contributors be liable for
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any direct, indirect, incidental, special, exemplary, or consequential damages
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(including, but not limited to, procurement of substitute goods or services;
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loss of use, data, or profits; or business interruption) however caused
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and on any theory of liability, whether in contract, strict liability,
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or tort (including negligence or otherwise) arising in any way out of
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the use of this software, even if advised of the possibility of such damage.
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*/
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#include <opencv2/highgui.hpp>
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#include <opencv2/calib3d.hpp>
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#include <opencv2/objdetect/aruco_detector.hpp>
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#include <opencv2/aruco/aruco_calib.hpp>
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#include <opencv2/imgproc.hpp>
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#include <vector>
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#include <iostream>
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#include <ctime>
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#include "aruco_samples_utility.hpp"
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using namespace std;
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using namespace cv;
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namespace {
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const char* about =
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"Calibration using a ArUco Planar Grid board\n"
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" To capture a frame for calibration, press 'c',\n"
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" If input comes from video, press any key for next frame\n"
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" To finish capturing, press 'ESC' key and calibration starts.\n";
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const char* keys =
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"{w | | Number of squares in X direction }"
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"{h | | Number of squares in Y direction }"
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"{l | | Marker side length (in meters) }"
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"{s | | Separation between two consecutive markers in the grid (in meters) }"
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"{d | | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
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"DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
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"DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
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"DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
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"{cd | | Input file with custom dictionary }"
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"{@outfile |<none> | Output file with calibrated camera parameters }"
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"{v | | Input from video file, if ommited, input comes from camera }"
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"{ci | 0 | Camera id if input doesnt come from video (-v) }"
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"{dp | | File of marker detector parameters }"
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"{rs | false | Apply refind strategy }"
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"{zt | false | Assume zero tangential distortion }"
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"{a | | Fix aspect ratio (fx/fy) to this value }"
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"{pc | false | Fix the principal point at the center }";
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}
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int main(int argc, char *argv[]) {
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CommandLineParser parser(argc, argv, keys);
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parser.about(about);
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if(argc < 6) {
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parser.printMessage();
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return 0;
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}
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int markersX = parser.get<int>("w");
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int markersY = parser.get<int>("h");
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float markerLength = parser.get<float>("l");
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float markerSeparation = parser.get<float>("s");
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string outputFile = parser.get<String>(0);
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int calibrationFlags = 0;
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float aspectRatio = 1;
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if(parser.has("a")) {
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calibrationFlags |= CALIB_FIX_ASPECT_RATIO;
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aspectRatio = parser.get<float>("a");
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}
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if(parser.get<bool>("zt")) calibrationFlags |= CALIB_ZERO_TANGENT_DIST;
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if(parser.get<bool>("pc")) calibrationFlags |= CALIB_FIX_PRINCIPAL_POINT;
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aruco::DetectorParameters detectorParams;
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if(parser.has("dp")) {
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FileStorage fs(parser.get<string>("dp"), FileStorage::READ);
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bool readOk = detectorParams.readDetectorParameters(fs.root());
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if(!readOk) {
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cerr << "Invalid detector parameters file" << endl;
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return 0;
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}
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}
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bool refindStrategy = parser.get<bool>("rs");
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int camId = parser.get<int>("ci");
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String video;
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if(parser.has("v")) {
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video = parser.get<String>("v");
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}
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if(!parser.check()) {
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parser.printErrors();
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return 0;
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}
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VideoCapture inputVideo;
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int waitTime;
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if(!video.empty()) {
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inputVideo.open(video);
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waitTime = 0;
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} else {
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inputVideo.open(camId);
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waitTime = 10;
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}
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aruco::Dictionary dictionary = aruco::getPredefinedDictionary(0);
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if (parser.has("d")) {
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int dictionaryId = parser.get<int>("d");
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dictionary = aruco::getPredefinedDictionary(aruco::PredefinedDictionaryType(dictionaryId));
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}
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else if (parser.has("cd")) {
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FileStorage fs(parser.get<std::string>("cd"), FileStorage::READ);
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bool readOk = dictionary.aruco::Dictionary::readDictionary(fs.root());
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if(!readOk) {
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cerr << "Invalid dictionary file" << endl;
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return 0;
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}
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}
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else {
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cerr << "Dictionary not specified" << endl;
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return 0;
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}
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// create board object
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Ptr<aruco::GridBoard> gridboard =
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aruco::GridBoard::create(markersX, markersY, markerLength, markerSeparation, dictionary);
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Ptr<aruco::Board> board = gridboard.staticCast<aruco::Board>();
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// collected frames for calibration
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vector< vector< vector< Point2f > > > allCorners;
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vector< vector< int > > allIds;
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Size imgSize;
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aruco::ArucoDetector detector(dictionary, detectorParams);
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while(inputVideo.grab()) {
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Mat image, imageCopy;
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inputVideo.retrieve(image);
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vector< int > ids;
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vector< vector< Point2f > > corners, rejected;
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// detect markers
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detector.detectMarkers(image, corners, ids, rejected);
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// refind strategy to detect more markers
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if(refindStrategy) detector.refineDetectedMarkers(image, board, corners, ids, rejected);
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// draw results
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image.copyTo(imageCopy);
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if(ids.size() > 0) aruco::drawDetectedMarkers(imageCopy, corners, ids);
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putText(imageCopy, "Press 'c' to add current frame. 'ESC' to finish and calibrate",
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Point(10, 20), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(255, 0, 0), 2);
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imshow("out", imageCopy);
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char key = (char)waitKey(waitTime);
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if(key == 27) break;
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if(key == 'c' && ids.size() > 0) {
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cout << "Frame captured" << endl;
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allCorners.push_back(corners);
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allIds.push_back(ids);
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imgSize = image.size();
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}
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}
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if(allIds.size() < 1) {
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cerr << "Not enough captures for calibration" << endl;
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return 0;
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}
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Mat cameraMatrix, distCoeffs;
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vector< Mat > rvecs, tvecs;
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double repError;
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if(calibrationFlags & CALIB_FIX_ASPECT_RATIO) {
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cameraMatrix = Mat::eye(3, 3, CV_64F);
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cameraMatrix.at< double >(0, 0) = aspectRatio;
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}
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// prepare data for calibration
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vector< vector< Point2f > > allCornersConcatenated;
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vector< int > allIdsConcatenated;
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vector< int > markerCounterPerFrame;
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markerCounterPerFrame.reserve(allCorners.size());
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for(unsigned int i = 0; i < allCorners.size(); i++) {
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markerCounterPerFrame.push_back((int)allCorners[i].size());
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for(unsigned int j = 0; j < allCorners[i].size(); j++) {
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allCornersConcatenated.push_back(allCorners[i][j]);
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allIdsConcatenated.push_back(allIds[i][j]);
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}
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}
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// calibrate camera
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repError = aruco::calibrateCameraAruco(allCornersConcatenated, allIdsConcatenated,
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markerCounterPerFrame, board, imgSize, cameraMatrix,
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distCoeffs, rvecs, tvecs, calibrationFlags);
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bool saveOk = saveCameraParams(outputFile, imgSize, aspectRatio, calibrationFlags, cameraMatrix,
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distCoeffs, repError);
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if(!saveOk) {
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cerr << "Cannot save output file" << endl;
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return 0;
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}
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cout << "Rep Error: " << repError << endl;
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cout << "Calibration saved to " << outputFile << endl;
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return 0;
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}
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