295 lines
11 KiB
C++
295 lines
11 KiB
C++
/*
|
|
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.hpp>
|
|
#include <opencv2/imgproc.hpp>
|
|
#include <vector>
|
|
#include <iostream>
|
|
#include <ctime>
|
|
|
|
using namespace std;
|
|
using namespace cv;
|
|
|
|
|
|
namespace {
|
|
const char* about =
|
|
"Calibration using a ArUco Planar Grid 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 }"
|
|
"{l | | Marker side length (in meters) }"
|
|
"{s | | Separation between two consecutive markers in the grid (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}"
|
|
"{@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 }";
|
|
}
|
|
|
|
/**
|
|
*/
|
|
static bool readDetectorParameters(string filename, Ptr<aruco::DetectorParameters> ¶ms) {
|
|
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);
|
|
|
|
if(argc < 6) {
|
|
parser.printMessage();
|
|
return 0;
|
|
}
|
|
|
|
int markersX = parser.get<int>("w");
|
|
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;
|
|
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 = aruco::DetectorParameters::create();
|
|
if(parser.has("dp")) {
|
|
bool readOk = readDetectorParameters(parser.get<string>("dp"), 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 =
|
|
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
|
|
|
|
// create board object
|
|
Ptr<aruco::GridBoard> gridboard =
|
|
aruco::GridBoard::create(markersX, markersY, markerLength, markerSeparation, dictionary);
|
|
Ptr<aruco::Board> board = gridboard.staticCast<aruco::Board>();
|
|
|
|
// collected frames for calibration
|
|
vector< vector< vector< Point2f > > > allCorners;
|
|
vector< vector< int > > allIds;
|
|
Size imgSize;
|
|
|
|
while(inputVideo.grab()) {
|
|
Mat image, imageCopy;
|
|
inputVideo.retrieve(image);
|
|
|
|
vector< int > ids;
|
|
vector< vector< Point2f > > corners, rejected;
|
|
|
|
// detect markers
|
|
aruco::detectMarkers(image, dictionary, corners, ids, detectorParams, rejected);
|
|
|
|
// refind strategy to detect more markers
|
|
if(refindStrategy) aruco::refineDetectedMarkers(image, board, corners, ids, rejected);
|
|
|
|
// draw results
|
|
image.copyTo(imageCopy);
|
|
if(ids.size() > 0) aruco::drawDetectedMarkers(imageCopy, corners, ids);
|
|
putText(imageCopy, "Press 'c' to add current frame. 'ESC' to finish and calibrate",
|
|
Point(10, 20), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(255, 0, 0), 2);
|
|
|
|
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);
|
|
imgSize = image.size();
|
|
}
|
|
}
|
|
|
|
if(allIds.size() < 1) {
|
|
cerr << "Not enough captures for calibration" << endl;
|
|
return 0;
|
|
}
|
|
|
|
Mat cameraMatrix, distCoeffs;
|
|
vector< Mat > rvecs, tvecs;
|
|
double repError;
|
|
|
|
if(calibrationFlags & CALIB_FIX_ASPECT_RATIO) {
|
|
cameraMatrix = Mat::eye(3, 3, CV_64F);
|
|
cameraMatrix.at< double >(0, 0) = aspectRatio;
|
|
}
|
|
|
|
// prepare data for calibration
|
|
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());
|
|
for(unsigned int j = 0; j < allCorners[i].size(); j++) {
|
|
allCornersConcatenated.push_back(allCorners[i][j]);
|
|
allIdsConcatenated.push_back(allIds[i][j]);
|
|
}
|
|
}
|
|
// calibrate camera
|
|
repError = aruco::calibrateCameraAruco(allCornersConcatenated, allIdsConcatenated,
|
|
markerCounterPerFrame, board, imgSize, cameraMatrix,
|
|
distCoeffs, rvecs, tvecs, calibrationFlags);
|
|
|
|
bool saveOk = saveCameraParams(outputFile, imgSize, aspectRatio, calibrationFlags, cameraMatrix,
|
|
distCoeffs, repError);
|
|
|
|
if(!saveOk) {
|
|
cerr << "Cannot save output file" << endl;
|
|
return 0;
|
|
}
|
|
|
|
cout << "Rep Error: " << repError << endl;
|
|
cout << "Calibration saved to " << outputFile << endl;
|
|
|
|
return 0;
|
|
}
|