chore: import upstream snapshot with attribution
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wehub-resource-sync
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#include <iostream>
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#include <vector>
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#include <opencv2/calib3d.hpp>
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#include <opencv2/highgui.hpp>
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#include <opencv2/imgproc.hpp>
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#include <opencv2/objdetect/charuco_detector.hpp>
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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 ChArUco 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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"{sl | | Square side length (in meters) }"
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"{ml | | Marker side length (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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"DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36h12=21}"
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"{cd | | Input file with custom dictionary }"
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"{@outfile |cam.yml| 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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"{sc | false | Show detected chessboard corners after calibration }";
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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 < 7) {
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parser.printMessage();
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return 0;
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}
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int squaresX = parser.get<int>("w");
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int squaresY = parser.get<int>("h");
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float squareLength = parser.get<float>("sl");
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float markerLength = parser.get<float>("ml");
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string outputFile = parser.get<string>(0);
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bool showChessboardCorners = parser.get<bool>("sc");
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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 = readDetectorParamsFromCommandLine(parser);
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aruco::Dictionary dictionary = readDictionatyFromCommandLine(parser);
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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::CharucoParameters charucoParams;
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if(refindStrategy) {
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charucoParams.tryRefineMarkers = true;
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}
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//! [CalibrationWithCharucoBoard1]
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// Create charuco board object and CharucoDetector
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aruco::CharucoBoard board(Size(squaresX, squaresY), squareLength, markerLength, dictionary);
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aruco::CharucoDetector detector(board, charucoParams, detectorParams);
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// Collect data from each frame
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vector<Mat> allCharucoCorners, allCharucoIds;
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vector<vector<Point2f>> allImagePoints;
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vector<vector<Point3f>> allObjectPoints;
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vector<Mat> allImages;
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Size imageSize;
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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> markerIds;
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vector<vector<Point2f>> markerCorners;
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Mat currentCharucoCorners, currentCharucoIds;
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vector<Point3f> currentObjectPoints;
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vector<Point2f> currentImagePoints;
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// Detect ChArUco board
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detector.detectBoard(image, currentCharucoCorners, currentCharucoIds);
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//! [CalibrationWithCharucoBoard1]
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// Draw results
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image.copyTo(imageCopy);
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if(!markerIds.empty()) {
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aruco::drawDetectedMarkers(imageCopy, markerCorners);
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}
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if(currentCharucoCorners.total() > 3) {
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aruco::drawDetectedCornersCharuco(imageCopy, currentCharucoCorners, currentCharucoIds);
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}
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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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// Wait for key pressed
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char key = (char)waitKey(waitTime);
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if(key == 27) {
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break;
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}
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//! [CalibrationWithCharucoBoard2]
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if(key == 'c' && currentCharucoCorners.total() > 3) {
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// Match image points
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board.matchImagePoints(currentCharucoCorners, currentCharucoIds, currentObjectPoints, currentImagePoints);
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if(currentImagePoints.empty() || currentObjectPoints.empty()) {
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cout << "Point matching failed, try again." << endl;
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continue;
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}
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cout << "Frame captured" << endl;
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allCharucoCorners.push_back(currentCharucoCorners);
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allCharucoIds.push_back(currentCharucoIds);
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allImagePoints.push_back(currentImagePoints);
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allObjectPoints.push_back(currentObjectPoints);
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allImages.push_back(image);
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imageSize = image.size();
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}
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}
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//! [CalibrationWithCharucoBoard2]
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if(allCharucoCorners.size() < 4) {
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cerr << "Not enough corners for calibration" << endl;
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return 0;
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}
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//! [CalibrationWithCharucoBoard3]
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Mat cameraMatrix, distCoeffs;
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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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// Calibrate camera using ChArUco
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double repError = calibrateCamera(allObjectPoints, allImagePoints, imageSize, cameraMatrix, distCoeffs,
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noArray(), noArray(), noArray(), noArray(), noArray(), calibrationFlags);
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//! [CalibrationWithCharucoBoard3]
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bool saveOk = saveCameraParams(outputFile, imageSize, aspectRatio, calibrationFlags,
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cameraMatrix, 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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// Show interpolated charuco corners for debugging
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if(showChessboardCorners) {
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for(size_t frame = 0; frame < allImages.size(); frame++) {
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Mat imageCopy = allImages[frame].clone();
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if(allCharucoCorners[frame].total() > 0) {
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aruco::drawDetectedCornersCharuco(imageCopy, allCharucoCorners[frame], allCharucoIds[frame]);
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}
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imshow("out", imageCopy);
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char key = (char)waitKey(0);
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if(key == 27) {
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break;
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}
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}
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}
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return 0;
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}
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