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
@@ -0,0 +1,145 @@
+#include <opencv2/highgui.hpp>
+//! [charucohdr]
+#include <opencv2/objdetect/charuco_detector.hpp>
+//! [charucohdr]
+#include <vector>
+#include <iostream>
+#include "aruco_samples_utility.hpp"
+
+using namespace std;
+using namespace cv;
+
+namespace {
+const char* about = "Pose estimation using a ChArUco board";
+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,"
+        "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 }"
+        "{c        |       | Output file with calibrated camera parameters }"
+        "{v        |       | Input from video or image 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       |       | Apply refind strategy }";
+}
+
+
+int main(int argc, char *argv[]) {
+    CommandLineParser parser(argc, argv, keys);
+    parser.about(about);
+
+    if(argc < 6) {
+        parser.printMessage();
+        return 0;
+    }
+
+    //! [charuco_detect_board_full_sample]
+    int squaresX = parser.get<int>("w");
+    int squaresY = parser.get<int>("h");
+    float squareLength = parser.get<float>("sl");
+    float markerLength = parser.get<float>("ml");
+    bool refine = parser.has("rs");
+    int camId = parser.get<int>("ci");
+
+    string video;
+    if(parser.has("v")) {
+        video = parser.get<string>("v");
+    }
+
+    Mat camMatrix, distCoeffs;
+    readCameraParamsFromCommandLine(parser, camMatrix, distCoeffs);
+    aruco::DetectorParameters detectorParams = readDetectorParamsFromCommandLine(parser);
+    aruco::Dictionary dictionary = readDictionatyFromCommandLine(parser);
+
+    if(!parser.check()) {
+        parser.printErrors();
+        return 0;
+    }
+
+    VideoCapture inputVideo;
+    int waitTime = 0;
+    if(!video.empty()) {
+        inputVideo.open(video);
+    } else {
+        inputVideo.open(camId);
+        waitTime = 10;
+    }
+
+    float axisLength = 0.5f * ((float)min(squaresX, squaresY) * (squareLength));
+
+    // create charuco board object
+    aruco::CharucoBoard charucoBoard(Size(squaresX, squaresY), squareLength, markerLength, dictionary);
+
+    // create charuco detector
+    aruco::CharucoParameters charucoParams;
+    charucoParams.tryRefineMarkers = refine; // if tryRefineMarkers, refineDetectedMarkers() will be used in detectBoard()
+    charucoParams.cameraMatrix = camMatrix; // cameraMatrix can be used in detectBoard()
+    charucoParams.distCoeffs = distCoeffs; // distCoeffs can be used in detectBoard()
+    aruco::CharucoDetector charucoDetector(charucoBoard, charucoParams, detectorParams);
+
+    double totalTime = 0;
+    int totalIterations = 0;
+
+    while(inputVideo.grab()) {
+        //! [inputImg]
+        Mat image, imageCopy;
+        inputVideo.retrieve(image);
+        //! [inputImg]
+
+        double tick = (double)getTickCount();
+
+        vector<int> markerIds, charucoIds;
+        vector<vector<Point2f> > markerCorners;
+        vector<Point2f> charucoCorners;
+        Vec3d rvec, tvec;
+
+        //! [interpolateCornersCharuco]
+        // detect markers and charuco corners
+        charucoDetector.detectBoard(image, charucoCorners, charucoIds, markerCorners, markerIds);
+        //! [interpolateCornersCharuco]
+
+        //! [poseCharuco]
+        // estimate charuco board pose
+        bool validPose = false;
+        if(camMatrix.total() != 0 && distCoeffs.total() != 0 && charucoIds.size() >= 4) {
+            Mat objPoints, imgPoints;
+            charucoBoard.matchImagePoints(charucoCorners, charucoIds, objPoints, imgPoints);
+            validPose = solvePnP(objPoints, imgPoints, camMatrix, distCoeffs, rvec, tvec);
+        }
+        //! [poseCharuco]
+
+        double currentTime = ((double)getTickCount() - tick) / getTickFrequency();
+        totalTime += currentTime;
+        totalIterations++;
+        if(totalIterations % 30 == 0) {
+            cout << "Detection Time = " << currentTime * 1000 << " ms "
+                 << "(Mean = " << 1000 * totalTime / double(totalIterations) << " ms)" << endl;
+        }
+
+        // draw results
+        image.copyTo(imageCopy);
+        if(markerIds.size() > 0) {
+            aruco::drawDetectedMarkers(imageCopy, markerCorners);
+        }
+
+        if(charucoIds.size() > 0) {
+            //! [drawDetectedCornersCharuco]
+            aruco::drawDetectedCornersCharuco(imageCopy, charucoCorners, charucoIds, cv::Scalar(255, 0, 0));
+            //! [drawDetectedCornersCharuco]
+        }
+
+        if(validPose)
+            cv::drawFrameAxes(imageCopy, camMatrix, distCoeffs, rvec, tvec, axisLength);
+
+        imshow("out", imageCopy);
+        if(waitKey(waitTime) == 27) break;
+    }
+    //! [charuco_detect_board_full_sample]
+    return 0;
+}