chore: import upstream snapshot with attribution

2026-07-13 12:06:04 +08:00
commit 86c9b1c39f
7743 changed files with 3316339 additions and 0 deletions
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+#include <ctime>
+#include <iostream>
+#include <vector>
+#include <opencv2/calib3d.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+#include <opencv2/objdetect/aruco_detector.hpp>
+#include "aruco_samples_utility.hpp"
+
+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,"
+        "DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
+        "{cd       |       | Input file with custom dictionary }"
+        "{@outfile |cam.yml| 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 }";
+}
+
+
+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");
+    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;
+
+    aruco::Dictionary dictionary = readDictionatyFromCommandLine(parser);
+    aruco::DetectorParameters detectorParams = readDetectorParamsFromCommandLine(parser);
+
+    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;
+    }
+
+    //! [CalibrationWithArucoBoard1]
+    // Create board object and ArucoDetector
+    aruco::GridBoard gridboard(Size(markersX, markersY), markerLength, markerSeparation, dictionary);
+    aruco::ArucoDetector detector(dictionary, detectorParams);
+
+    // Collected frames for calibration
+    vector<vector<vector<Point2f>>> allMarkerCorners;
+    vector<vector<int>> allMarkerIds;
+    Size imageSize;
+
+    while(inputVideo.grab()) {
+        Mat image, imageCopy;
+        inputVideo.retrieve(image);
+
+        vector<int> markerIds;
+        vector<vector<Point2f>> markerCorners, rejectedMarkers;
+
+        // Detect markers
+        detector.detectMarkers(image, markerCorners, markerIds, rejectedMarkers);
+
+        // Refind strategy to detect more markers
+        if(refindStrategy) {
+            detector.refineDetectedMarkers(image, gridboard, markerCorners, markerIds, rejectedMarkers);
+        }
+        //! [CalibrationWithArucoBoard1]
+
+        // Draw results
+        image.copyTo(imageCopy);
+
+        if(!markerIds.empty()) {
+            aruco::drawDetectedMarkers(imageCopy, markerCorners, markerIds);
+        }
+
+        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);
+
+        // Wait for key pressed
+        char key = (char)waitKey(waitTime);
+
+        if(key == 27) {
+             break;
+        }
+
+        //! [CalibrationWithArucoBoard2]
+        if(key == 'c' && !markerIds.empty()) {
+            cout << "Frame captured" << endl;
+            allMarkerCorners.push_back(markerCorners);
+            allMarkerIds.push_back(markerIds);
+            imageSize = image.size();
+        }
+    }
+    //! [CalibrationWithArucoBoard2]
+
+    if(allMarkerIds.empty()) {
+        throw std::runtime_error("Not enough captures for calibration\n");
+    }
+
+    //! [CalibrationWithArucoBoard3]
+    Mat cameraMatrix, distCoeffs;
+
+    if(calibrationFlags & CALIB_FIX_ASPECT_RATIO) {
+        cameraMatrix = Mat::eye(3, 3, CV_64F);
+        cameraMatrix.at<double>(0, 0) = aspectRatio;
+    }
+
+    // Prepare data for calibration
+    vector<Point3f> objectPoints;
+    vector<Point2f> imagePoints;
+    vector<Mat> processedObjectPoints, processedImagePoints;
+    size_t nFrames = allMarkerCorners.size();
+
+    for(size_t frame = 0; frame < nFrames; frame++) {
+        Mat currentImgPoints, currentObjPoints;
+
+        gridboard.matchImagePoints(allMarkerCorners[frame], allMarkerIds[frame], currentObjPoints, currentImgPoints);
+
+        if(currentImgPoints.total() > 0 && currentObjPoints.total() > 0) {
+            processedImagePoints.push_back(currentImgPoints);
+            processedObjectPoints.push_back(currentObjPoints);
+        }
+    }
+
+    // Calibrate camera
+    double repError = calibrateCamera(processedObjectPoints, processedImagePoints, imageSize, cameraMatrix, distCoeffs,
+                                      noArray(), noArray(), noArray(), noArray(), noArray(), calibrationFlags);
+    //! [CalibrationWithArucoBoard3]
+    bool saveOk = saveCameraParams(outputFile, imageSize, aspectRatio, calibrationFlags,
+                                   cameraMatrix, distCoeffs, repError);
+
+    if(!saveOk) {
+        throw std::runtime_error("Cannot save output file\n");
+    }
+
+    cout << "Rep Error: " << repError << endl;
+    cout << "Calibration saved to " << outputFile << endl;
+    return 0;
+}