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calibration

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ackimixs
2024-05-02 16:36:26 +02:00
parent 8a220570ca
commit 336e3e655d
2 changed files with 275 additions and 101 deletions
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48
aruco_samples_utility.hpp Normal file
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@@ -0,0 +1,48 @@
#include <opencv2/highgui.hpp>
#include <opencv2/aruco.hpp>
#include <opencv2/calib3d.hpp>
#include <ctime>
namespace {
inline 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 true;
}
inline static bool saveCameraParams(const std::string &filename, cv::Size imageSize, float aspectRatio, int flags,
const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, double totalAvgErr) {
cv::FileStorage fs(filename, cv::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 & cv::CALIB_FIX_ASPECT_RATIO) fs << "aspectRatio" << aspectRatio;
if (flags != 0) {
sprintf(buf, "flags: %s%s%s%s",
flags & cv::CALIB_USE_INTRINSIC_GUESS ? "+use_intrinsic_guess" : "",
flags & cv::CALIB_FIX_ASPECT_RATIO ? "+fix_aspectRatio" : "",
flags & cv::CALIB_FIX_PRINCIPAL_POINT ? "+fix_principal_point" : "",
flags & cv::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;
}
}

328
calibrationCharuco.cpp
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@@ -1,89 +1,203 @@
#include <iostream>
#include <opencv2/opencv.hpp>
#include <lccv.hpp>
#include <thread>
/*
By downloading, copying, installing or using the software you agree to this
license. If you do not agree to this license, do not download, install,
copy or use the software.
License Agreement
For Open Source Computer Vision Library
(3-clause BSD License)
Copyright (C) 2013, OpenCV Foundation, all rights reserved.
Third party copyrights are property of their respective owners.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the names of the copyright holders nor the names of the contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
This software is provided by the copyright holders and contributors "as is" and
any express or implied warranties, including, but not limited to, the implied
warranties of merchantability and fitness for a particular purpose are
disclaimed. In no event shall copyright holders or contributors be liable for
any direct, indirect, incidental, special, exemplary, or consequential damages
(including, but not limited to, procurement of substitute goods or services;
loss of use, data, or profits; or business interruption) however caused
and on any theory of liability, whether in contract, strict liability,
or tort (including negligence or otherwise) arising in any way out of
the use of this software, even if advised of the possibility of such damage.
*/
#include <opencv2/highgui.hpp>
#include <opencv2/calib3d.hpp>
#include <opencv2/aruco/charuco.hpp>
#include <opencv2/imgproc.hpp>
#include <vector>
#include <iostream>
#include "aruco_samples_utility.hpp"
using namespace std;
using namespace cv;
namespace {
const char* about =
"Calibration using a ChArUco board\n"
" To capture a frame for calibration, press 'c',\n"
" If input comes from video, press any key for next frame\n"
" To finish capturing, press 'ESC' key and calibration starts.\n";
const char* keys =
"{w | | Number of squares in X direction }"
"{h | | Number of squares in Y direction }"
"{sl | | Square side length (in meters) }"
"{ml | | Marker side length (in meters) }"
"{d | | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
"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) }"
"{dp | | File of marker detector parameters }"
"{rs | false | Apply refind strategy }"
"{zt | false | Assume zero tangential distortion }"
"{a | | Fix aspect ratio (fx/fy) to this value }"
"{pc | false | Fix the principal point at the center }"
"{sc | false | Show detected chessboard corners after calibration }";
}
int main(int argc, char *argv[]) {
CommandLineParser parser(argc, argv, keys);
parser.about(about);
cv::Ptr<cv::aruco::Dictionary> AruCoDict = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
if(argc < 7) {
parser.printMessage();
return 0;
}
int squaresX = 5;
int squaresY = 7;
float squareLength = 0.0336f;
float markerLength = 0.01682f;
std::string outputFile = "camera_calibration.yml";
int squaresX = parser.get<int>("w");
int squaresY = parser.get<int>("h");
float squareLength = parser.get<float>("sl");
float markerLength = parser.get<float>("ml");
string outputFile = parser.get<string>(0);
bool showChessboardCorners = parser.get<bool>("sc");
int calibrationFlags = 0;
float aspectRatio = 1;
if(parser.has("a")) {
calibrationFlags |= CALIB_FIX_ASPECT_RATIO;
aspectRatio = parser.get<float>("a");
}
if(parser.get<bool>("zt")) calibrationFlags |= CALIB_ZERO_TANGENT_DIST;
if(parser.get<bool>("pc")) calibrationFlags |= CALIB_FIX_PRINCIPAL_POINT;
Ptr<aruco::DetectorParameters> detectorParams;
if(parser.has("dp")) {
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;
}
}
bool refindStrategy = parser.get<bool>("rs");
int camId = parser.get<int>("ci");
String video;
if(parser.has("v")) {
video = parser.get<String>("v");
}
if(!parser.check()) {
parser.printErrors();
return 0;
}
VideoCapture inputVideo;
int waitTime;
if(!video.empty()) {
inputVideo.open(video);
waitTime = 0;
} else {
inputVideo.open(camId);
waitTime = 10;
}
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 charuco board object
cv::Ptr<cv::aruco::CharucoBoard> charucoboard =
cv::aruco::CharucoBoard::create(squaresX, squaresY, squareLength, markerLength, AruCoDict);
cv::Ptr<cv::aruco::Board> board = charucoboard.staticCast<cv::aruco::Board>();
Ptr<aruco::CharucoBoard> charucoboard =
aruco::CharucoBoard::create(squaresX, squaresY, squareLength, markerLength, dictionary);
Ptr<aruco::Board> board = charucoboard.staticCast<aruco::Board>();
lccv::PiCamera* cam = new lccv::PiCamera;
cam->options->video_width=1920;
cam->options->video_height=1080;
cam->options->framerate=5;
cam->options->verbose=true;
cv::namedWindow("Video",cv::WINDOW_NORMAL);
cam->startVideo();
// collect data from each frame
vector< vector< vector< Point2f > > > allCorners;
vector< vector< int > > allIds;
vector< Mat > allImgs;
Size imgSize;
cv::Ptr<cv::aruco::DetectorParameters> detectorParams = cv::aruco::DetectorParameters::create();
while(inputVideo.grab()) {
Mat image, imageCopy;
inputVideo.retrieve(image);
// cv::aruco::CharucoParameters charucoParams;
vector< int > ids;
vector< vector< Point2f > > corners, rejected;
// cv::aruco::CharucoDetector detector(board, charucoParams, detectorParams);
// detect markers
aruco::detectMarkers(image, dictionary, corners, ids, detectorParams, rejected);
// Collect data from each frame
// std::vector<cv::Mat> allCharucoCorners;
// std::vector<cv::Mat> allCharucoIds;
//
// std::vector<std::vector<cv::Point2f>> allImagePoints;
// std::vector<std::vector<cv::Point3f>> allObjectPoints;
//
// std::vector<cv::Mat> allImages;
// cv::Size imageSize;
// refind strategy to detect more markers
if(refindStrategy) aruco::refineDetectedMarkers(image, board, corners, ids, rejected);
std::vector< std::vector< std::vector< cv::Point2f > > > allCorners;
std::vector< std::vector< int > > allIds;
std::vector< cv::Mat > allImgs;
cv::Size imgSize;
char key;
std::this_thread::sleep_for(std::chrono::milliseconds(10));
while(key != 27) {
cv::Mat image, imageCopy, imgNotRotated;
if(!cam->getVideoFrame(imgNotRotated,1000)){
std::cout<<"Timeout error"<<std::endl;
continue;
}
cv::flip(imgNotRotated, image, -1);
std::vector< int > ids;
std::vector< std::vector< cv::Point2f > > corners, rejected;
cv::aruco::detectMarkers(image, AruCoDict, corners, ids, detectorParams, rejected);
cv::Mat currentCharucoCorners, currentCharucoIds;
if(!ids.empty())
cv::aruco::interpolateCornersCharuco(corners, ids, image, charucoboard, currentCharucoCorners,
// interpolate charuco corners
Mat currentCharucoCorners, currentCharucoIds;
if(ids.size() > 0)
aruco::interpolateCornersCharuco(corners, ids, image, charucoboard, currentCharucoCorners,
currentCharucoIds);
// draw results
image.copyTo(imageCopy);
if(!ids.empty()) cv::aruco::drawDetectedMarkers(imageCopy, corners);
if(ids.size() > 0) aruco::drawDetectedMarkers(imageCopy, corners);
if(currentCharucoCorners.total() > 0)
cv::aruco::drawDetectedCornersCharuco(imageCopy, currentCharucoCorners, currentCharucoIds);
aruco::drawDetectedCornersCharuco(imageCopy, currentCharucoCorners, currentCharucoIds);
putText(imageCopy, "Press 'c' to add current frame. 'ESC' to finish and calibrate",
cv::Point(10, 20), cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(255, 0, 0), 2);
Point(10, 20), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(255, 0, 0), 2);
imshow("Video", imageCopy);
key = (char)cv::waitKey(10);
if(key == 'c' && !ids.empty()) {
std::cout << "Frame captured" << std::endl;
imshow("out", imageCopy);
char key = (char)waitKey(waitTime);
if(key == 27) break;
if(key == 'c' && ids.size() > 0) {
cout << "Frame captured" << endl;
allCorners.push_back(corners);
allIds.push_back(ids);
allImgs.push_back(image);
@@ -91,29 +205,24 @@ int main(int argc, char *argv[]) {
}
}
if(allIds.empty()) {
std::cerr << "Not enough captures for calibration" << std::endl;
if(allIds.size() < 1) {
cerr << "Not enough captures for calibration" << endl;
return 0;
}
cv::Mat cameraMatrix, distCoeffs;
std::vector<cv::Mat> rvecs, tvecs;
Mat cameraMatrix, distCoeffs;
vector< Mat > rvecs, tvecs;
double repError;
int calibrationFlags = 0;
if(calibrationFlags & CALIB_FIX_ASPECT_RATIO) {
cameraMatrix = Mat::eye(3, 3, CV_64F);
cameraMatrix.at< double >(0, 0) = aspectRatio;
}
// Calibrate camera using ChArUco
// double repError = calibrateCamera(
// allObjectPoints, allImagePoints, imageSize,
// cameraMatrix, distCoeffs, cv::noArray(), cv::noArray(), cv::noArray(),
// cv::noArray(), cv::noArray(), calibrationFlags
// );
// prepare data for calibration
std::vector< std::vector< cv::Point2f > > allCornersConcatenated;
std::vector< int > allIdsConcatenated;
std::vector< int > markerCounterPerFrame;
vector< vector< Point2f > > allCornersConcatenated;
vector< int > allIdsConcatenated;
vector< int > markerCounterPerFrame;
markerCounterPerFrame.reserve(allCorners.size());
for(unsigned int i = 0; i < allCorners.size(); i++) {
markerCounterPerFrame.push_back((int)allCorners[i].size());
@@ -123,23 +232,24 @@ int main(int argc, char *argv[]) {
}
}
// calibrate camera using aruco markers
double arucoRepErr;
arucoRepErr = cv::aruco::calibrateCameraAruco(allCornersConcatenated, allIdsConcatenated,
arucoRepErr = aruco::calibrateCameraAruco(allCornersConcatenated, allIdsConcatenated,
markerCounterPerFrame, board, imgSize, cameraMatrix,
distCoeffs, cv::noArray(), cv::noArray(), calibrationFlags);
distCoeffs, noArray(), noArray(), calibrationFlags);
// prepare data for charuco calibration
int nFrames = (int)allCorners.size();
std::vector< cv::Mat > allCharucoCorners;
std::vector< cv::Mat > allCharucoIds;
std::vector< cv::Mat > filteredImages;
vector< Mat > allCharucoCorners;
vector< Mat > allCharucoIds;
vector< Mat > filteredImages;
allCharucoCorners.reserve(nFrames);
allCharucoIds.reserve(nFrames);
for(int i = 0; i < nFrames; i++) {
// interpolate using camera parameters
cv::Mat currentCharucoCorners, currentCharucoIds;
cv::aruco::interpolateCornersCharuco(allCorners[i], allIds[i], allImgs[i], charucoboard,
Mat currentCharucoCorners, currentCharucoIds;
aruco::interpolateCornersCharuco(allCorners[i], allIds[i], allImgs[i], charucoboard,
currentCharucoCorners, currentCharucoIds, cameraMatrix,
distCoeffs);
@@ -149,27 +259,43 @@ int main(int argc, char *argv[]) {
}
if(allCharucoCorners.size() < 4) {
std::cerr << "Not enough corners for calibration" << std::endl;
cerr << "Not enough corners for calibration" << endl;
return 0;
}
// calibrate camera using charuco
repError =
cv::aruco::calibrateCameraCharuco(allCharucoCorners, allCharucoIds, charucoboard, imgSize,
aruco::calibrateCameraCharuco(allCharucoCorners, allCharucoIds, charucoboard, imgSize,
cameraMatrix, distCoeffs, rvecs, tvecs, calibrationFlags);
// std::cout << "Rep Error: " << repError << std::endl;
std::cout << "Rep Error Aruco: " << arucoRepErr << std::endl;
std::cout << "Calibration saved to " << outputFile << std::endl;
bool saveOk = saveCameraParams(outputFile, imgSize, aspectRatio, calibrationFlags,
cameraMatrix, distCoeffs, repError);
if(!saveOk) {
cerr << "Cannot save output file" << endl;
return 0;
}
std::cout << "Rep Error: " << arucoRepErr << std::endl;
cout << "Rep Error: " << repError << endl;
cout << "Rep Error Aruco: " << arucoRepErr << endl;
cout << "Calibration saved to " << outputFile << endl;
cv::FileStorage fs(outputFile, cv::FileStorage::WRITE);
fs << "cameraMatrix" << cameraMatrix;
fs << "distCoeffs" << distCoeffs;
fs.release(); // Release the file
cam->stopVideo();
cv::destroyAllWindows();
// show interpolated charuco corners for debugging
if(showChessboardCorners) {
for(unsigned int frame = 0; frame < filteredImages.size(); frame++) {
Mat imageCopy = filteredImages[frame].clone();
if(allIds[frame].size() > 0) {
if(allCharucoCorners[frame].total() > 0) {
aruco::drawDetectedCornersCharuco( imageCopy, allCharucoCorners[frame],
allCharucoIds[frame]);
}
}
imshow("out", imageCopy);
char key = (char)waitKey(0);
if(key == 27) break;
}
}
return 0;
}
}