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alalekalalek
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Merge pull request #3126 from AleksandrPanov:update_ArUco_tutorial
2 parents 5cc328d + a965b9b commit e0db5fd

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‎modules/aruco/CMakeLists.txt‎

Lines changed: 29 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1,2 +1,31 @@
11
set(the_description "ArUco Marker Detection")
22
ocv_define_module(aruco opencv_core opencv_imgproc opencv_calib3d WRAP python java)
3+
ocv_include_directories(${CMAKE_CURRENT_BINARY_DIR})
4+
5+
ocv_add_testdata(samples/ contrib/aruco
6+
FILES_MATCHING PATTERN "*yml"
7+
)
8+
9+
ocv_add_testdata(tutorials/aruco_detection/images/ contrib/aruco
10+
FILES_MATCHING PATTERN "singlemarkersoriginal.jpg"
11+
)
12+
13+
ocv_add_testdata(tutorials/aruco_board_detection/images/ contrib/aruco
14+
FILES_MATCHING PATTERN "gboriginal.png"
15+
)
16+
17+
ocv_add_testdata(tutorials/charuco_detection/images/ contrib/aruco
18+
FILES_MATCHING PATTERN "choriginal.jpg"
19+
)
20+
21+
ocv_add_testdata(tutorials/charuco_detection/images/ contrib/aruco
22+
FILES_MATCHING PATTERN "chocclusion_original.jpg"
23+
)
24+
25+
ocv_add_testdata(tutorials/charuco_diamond_detection/images/ contrib/aruco
26+
FILES_MATCHING PATTERN "diamondmarkers.png"
27+
)
28+
29+
ocv_add_testdata(tutorials/aruco_calibration/images/ contrib/aruco
30+
FILES_MATCHING REGEX "img_[0-9]+.jpg"
31+
)

‎modules/aruco/include/opencv2/aruco.hpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -150,8 +150,8 @@ enum CornerRefineMethod{
150150
struct CV_EXPORTS_W DetectorParameters {
151151

152152
DetectorParameters();
153-
154153
CV_WRAP static Ptr<DetectorParameters> create();
154+
CV_WRAP static bool readDetectorParameters(const FileNode& fn, Ptr<DetectorParameters>& params);
155155

156156
CV_PROP_RW int adaptiveThreshWinSizeMin;
157157
CV_PROP_RW int adaptiveThreshWinSizeMax;

‎modules/aruco/include/opencv2/aruco/dictionary.hpp‎

Lines changed: 10 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -93,6 +93,16 @@ class CV_EXPORTS_W Dictionary {
9393
CV_WRAP_AS(create_from) static Ptr<Dictionary> create(int nMarkers, int markerSize,
9494
const Ptr<Dictionary> &baseDictionary, int randomSeed=0);
9595

96+
/**
97+
* @brief Read a new dictionary from FileNode. Format:
98+
* nmarkers: 35
99+
* markersize: 6
100+
* marker_0: "101011111011111001001001101100000000"
101+
* ...
102+
* marker_34: "011111010000111011111110110101100101"
103+
*/
104+
CV_WRAP static bool readDictionary(const cv::FileNode& fn, cv::Ptr<cv::aruco::Dictionary> &dictionary);
105+
96106
/**
97107
* @see getPredefinedDictionary
98108
*/

‎modules/aruco/samples/aruco_samples_utility.hpp‎

Lines changed: 48 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,48 @@
1+
#include <opencv2/highgui.hpp>
2+
#include <opencv2/aruco.hpp>
3+
#include <opencv2/calib3d.hpp>
4+
#include <ctime>
5+
6+
namespace {
7+
inline static bool readCameraParameters(std::string filename, cv::Mat &camMatrix, cv::Mat &distCoeffs) {
8+
cv::FileStorage fs(filename, cv::FileStorage::READ);
9+
if (!fs.isOpened())
10+
return false;
11+
fs["camera_matrix"] >> camMatrix;
12+
fs["distortion_coefficients"] >> distCoeffs;
13+
return true;
14+
}
15+
16+
inline static bool saveCameraParams(const std::string &filename, cv::Size imageSize, float aspectRatio, int flags,
17+
const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, double totalAvgErr) {
18+
cv::FileStorage fs(filename, cv::FileStorage::WRITE);
19+
if (!fs.isOpened())
20+
return false;
21+
22+
time_t tt;
23+
time(&tt);
24+
struct tm *t2 = localtime(&tt);
25+
char buf[1024];
26+
strftime(buf, sizeof(buf) - 1, "%c", t2);
27+
28+
fs << "calibration_time" << buf;
29+
fs << "image_width" << imageSize.width;
30+
fs << "image_height" << imageSize.height;
31+
32+
if (flags & cv::CALIB_FIX_ASPECT_RATIO) fs << "aspectRatio" << aspectRatio;
33+
34+
if (flags != 0) {
35+
sprintf(buf, "flags: %s%s%s%s",
36+
flags & cv::CALIB_USE_INTRINSIC_GUESS ? "+use_intrinsic_guess" : "",
37+
flags & cv::CALIB_FIX_ASPECT_RATIO ? "+fix_aspectRatio" : "",
38+
flags & cv::CALIB_FIX_PRINCIPAL_POINT ? "+fix_principal_point" : "",
39+
flags & cv::CALIB_ZERO_TANGENT_DIST ? "+zero_tangent_dist" : "");
40+
}
41+
fs << "flags" << flags;
42+
fs << "camera_matrix" << cameraMatrix;
43+
fs << "distortion_coefficients" << distCoeffs;
44+
fs << "avg_reprojection_error" << totalAvgErr;
45+
return true;
46+
}
47+
48+
}

‎modules/aruco/samples/calibrate_camera.cpp‎

Lines changed: 22 additions & 78 deletions
Original file line numberDiff line numberDiff line change
@@ -44,6 +44,7 @@ the use of this software, even if advised of the possibility of such damage.
4444
#include <vector>
4545
#include <iostream>
4646
#include <ctime>
47+
#include "aruco_samples_utility.hpp"
4748

4849
using namespace std;
4950
using namespace cv;
@@ -64,6 +65,7 @@ const char* keys =
6465
"DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
6566
"DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
6667
"DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
68+
"{cd | | Input file with custom dictionary }"
6769
"{@outfile |<none> | Output file with calibrated camera parameters }"
6870
"{v | | Input from video file, if ommited, input comes from camera }"
6971
"{ci | 0 | Camera id if input doesnt come from video (-v) }"
@@ -74,80 +76,7 @@ const char* keys =
7476
"{pc | false | Fix the principal point at the center }";
7577
}
7678

77-
/**
78-
*/
79-
static bool readDetectorParameters(string filename, Ptr<aruco::DetectorParameters> &params) {
80-
FileStorage fs(filename, FileStorage::READ);
81-
if(!fs.isOpened())
82-
return false;
83-
fs["adaptiveThreshWinSizeMin"] >> params->adaptiveThreshWinSizeMin;
84-
fs["adaptiveThreshWinSizeMax"] >> params->adaptiveThreshWinSizeMax;
85-
fs["adaptiveThreshWinSizeStep"] >> params->adaptiveThreshWinSizeStep;
86-
fs["adaptiveThreshConstant"] >> params->adaptiveThreshConstant;
87-
fs["minMarkerPerimeterRate"] >> params->minMarkerPerimeterRate;
88-
fs["maxMarkerPerimeterRate"] >> params->maxMarkerPerimeterRate;
89-
fs["polygonalApproxAccuracyRate"] >> params->polygonalApproxAccuracyRate;
90-
fs["minCornerDistanceRate"] >> params->minCornerDistanceRate;
91-
fs["minDistanceToBorder"] >> params->minDistanceToBorder;
92-
fs["minMarkerDistanceRate"] >> params->minMarkerDistanceRate;
93-
fs["cornerRefinementMethod"] >> params->cornerRefinementMethod;
94-
fs["cornerRefinementWinSize"] >> params->cornerRefinementWinSize;
95-
fs["cornerRefinementMaxIterations"] >> params->cornerRefinementMaxIterations;
96-
fs["cornerRefinementMinAccuracy"] >> params->cornerRefinementMinAccuracy;
97-
fs["markerBorderBits"] >> params->markerBorderBits;
98-
fs["perspectiveRemovePixelPerCell"] >> params->perspectiveRemovePixelPerCell;
99-
fs["perspectiveRemoveIgnoredMarginPerCell"] >> params->perspectiveRemoveIgnoredMarginPerCell;
100-
fs["maxErroneousBitsInBorderRate"] >> params->maxErroneousBitsInBorderRate;
101-
fs["minOtsuStdDev"] >> params->minOtsuStdDev;
102-
fs["errorCorrectionRate"] >> params->errorCorrectionRate;
103-
return true;
104-
}
105-
106-
107-
108-
/**
109-
*/
110-
static bool saveCameraParams(const string &filename, Size imageSize, float aspectRatio, int flags,
111-
const Mat &cameraMatrix, const Mat &distCoeffs, double totalAvgErr) {
112-
FileStorage fs(filename, FileStorage::WRITE);
113-
if(!fs.isOpened())
114-
return false;
115-
116-
time_t tt;
117-
time(&tt);
118-
struct tm *t2 = localtime(&tt);
119-
char buf[1024];
120-
strftime(buf, sizeof(buf) - 1, "%c", t2);
121-
122-
fs << "calibration_time" << buf;
123-
124-
fs << "image_width" << imageSize.width;
125-
fs << "image_height" << imageSize.height;
126-
127-
if(flags & CALIB_FIX_ASPECT_RATIO) fs << "aspectRatio" << aspectRatio;
128-
129-
if(flags != 0) {
130-
sprintf(buf, "flags: %s%s%s%s",
131-
flags & CALIB_USE_INTRINSIC_GUESS ? "+use_intrinsic_guess" : "",
132-
flags & CALIB_FIX_ASPECT_RATIO ? "+fix_aspectRatio" : "",
133-
flags & CALIB_FIX_PRINCIPAL_POINT ? "+fix_principal_point" : "",
134-
flags & CALIB_ZERO_TANGENT_DIST ? "+zero_tangent_dist" : "");
135-
}
136-
137-
fs << "flags" << flags;
138-
139-
fs << "camera_matrix" << cameraMatrix;
140-
fs << "distortion_coefficients" << distCoeffs;
14179

142-
fs << "avg_reprojection_error" << totalAvgErr;
143-
144-
return true;
145-
}
146-
147-
148-
149-
/**
150-
*/
15180
int main(int argc, char *argv[]) {
15281
CommandLineParser parser(argc, argv, keys);
15382
parser.about(about);
@@ -161,7 +90,6 @@ int main(int argc, char *argv[]) {
16190
int markersY = parser.get<int>("h");
16291
float markerLength = parser.get<float>("l");
16392
float markerSeparation = parser.get<float>("s");
164-
int dictionaryId = parser.get<int>("d");
16593
string outputFile = parser.get<String>(0);
16694

16795
int calibrationFlags = 0;
@@ -173,9 +101,10 @@ int main(int argc, char *argv[]) {
173101
if(parser.get<bool>("zt")) calibrationFlags |= CALIB_ZERO_TANGENT_DIST;
174102
if(parser.get<bool>("pc")) calibrationFlags |= CALIB_FIX_PRINCIPAL_POINT;
175103

176-
Ptr<aruco::DetectorParameters> detectorParams = aruco::DetectorParameters::create();
104+
Ptr<aruco::DetectorParameters> detectorParams;
177105
if(parser.has("dp")) {
178-
bool readOk = readDetectorParameters(parser.get<string>("dp"), detectorParams);
106+
FileStorage fs(parser.get<string>("dp"), FileStorage::READ);
107+
bool readOk = aruco::DetectorParameters::readDetectorParameters(fs.root(), detectorParams);
179108
if(!readOk) {
180109
cerr << "Invalid detector parameters file" << endl;
181110
return 0;
@@ -205,8 +134,23 @@ int main(int argc, char *argv[]) {
205134
waitTime = 10;
206135
}
207136

208-
Ptr<aruco::Dictionary> dictionary =
209-
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
137+
Ptr<aruco::Dictionary> dictionary;
138+
if (parser.has("d")) {
139+
int dictionaryId = parser.get<int>("d");
140+
dictionary = aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
141+
}
142+
else if (parser.has("cd")) {
143+
FileStorage fs(parser.get<std::string>("cd"), FileStorage::READ);
144+
bool readOk = aruco::Dictionary::readDictionary(fs.root(), dictionary);
145+
if(!readOk) {
146+
cerr << "Invalid dictionary file" << endl;
147+
return 0;
148+
}
149+
}
150+
else {
151+
cerr << "Dictionary not specified" << endl;
152+
return 0;
153+
}
210154

211155
// create board object
212156
Ptr<aruco::GridBoard> gridboard =

‎modules/aruco/samples/calibrate_camera_charuco.cpp‎

Lines changed: 22 additions & 79 deletions
Original file line numberDiff line numberDiff line change
@@ -43,7 +43,7 @@ the use of this software, even if advised of the possibility of such damage.
4343
#include <opencv2/imgproc.hpp>
4444
#include <vector>
4545
#include <iostream>
46-
#include <ctime>
46+
#include "aruco_samples_utility.hpp"
4747

4848
using namespace std;
4949
using namespace cv;
@@ -63,6 +63,7 @@ const char* keys =
6363
"DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
6464
"DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
6565
"DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
66+
"{cd | | Input file with custom dictionary }"
6667
"{@outfile |<none> | Output file with calibrated camera parameters }"
6768
"{v | | Input from video file, if ommited, input comes from camera }"
6869
"{ci | 0 | Camera id if input doesnt come from video (-v) }"
@@ -74,80 +75,7 @@ const char* keys =
7475
"{sc | false | Show detected chessboard corners after calibration }";
7576
}
7677

77-
/**
78-
*/
79-
static bool readDetectorParameters(string filename, Ptr<aruco::DetectorParameters> &params) {
80-
FileStorage fs(filename, FileStorage::READ);
81-
if(!fs.isOpened())
82-
return false;
83-
fs["adaptiveThreshWinSizeMin"] >> params->adaptiveThreshWinSizeMin;
84-
fs["adaptiveThreshWinSizeMax"] >> params->adaptiveThreshWinSizeMax;
85-
fs["adaptiveThreshWinSizeStep"] >> params->adaptiveThreshWinSizeStep;
86-
fs["adaptiveThreshConstant"] >> params->adaptiveThreshConstant;
87-
fs["minMarkerPerimeterRate"] >> params->minMarkerPerimeterRate;
88-
fs["maxMarkerPerimeterRate"] >> params->maxMarkerPerimeterRate;
89-
fs["polygonalApproxAccuracyRate"] >> params->polygonalApproxAccuracyRate;
90-
fs["minCornerDistanceRate"] >> params->minCornerDistanceRate;
91-
fs["minDistanceToBorder"] >> params->minDistanceToBorder;
92-
fs["minMarkerDistanceRate"] >> params->minMarkerDistanceRate;
93-
fs["cornerRefinementMethod"] >> params->cornerRefinementMethod;
94-
fs["cornerRefinementWinSize"] >> params->cornerRefinementWinSize;
95-
fs["cornerRefinementMaxIterations"] >> params->cornerRefinementMaxIterations;
96-
fs["cornerRefinementMinAccuracy"] >> params->cornerRefinementMinAccuracy;
97-
fs["markerBorderBits"] >> params->markerBorderBits;
98-
fs["perspectiveRemovePixelPerCell"] >> params->perspectiveRemovePixelPerCell;
99-
fs["perspectiveRemoveIgnoredMarginPerCell"] >> params->perspectiveRemoveIgnoredMarginPerCell;
100-
fs["maxErroneousBitsInBorderRate"] >> params->maxErroneousBitsInBorderRate;
101-
fs["minOtsuStdDev"] >> params->minOtsuStdDev;
102-
fs["errorCorrectionRate"] >> params->errorCorrectionRate;
103-
return true;
104-
}
105-
106-
107-
108-
/**
109-
*/
110-
static bool saveCameraParams(const string &filename, Size imageSize, float aspectRatio, int flags,
111-
const Mat &cameraMatrix, const Mat &distCoeffs, double totalAvgErr) {
112-
FileStorage fs(filename, FileStorage::WRITE);
113-
if(!fs.isOpened())
114-
return false;
115-
116-
time_t tt;
117-
time(&tt);
118-
struct tm *t2 = localtime(&tt);
119-
char buf[1024];
120-
strftime(buf, sizeof(buf) - 1, "%c", t2);
121-
122-
fs << "calibration_time" << buf;
123-
124-
fs << "image_width" << imageSize.width;
125-
fs << "image_height" << imageSize.height;
126-
127-
if(flags & CALIB_FIX_ASPECT_RATIO) fs << "aspectRatio" << aspectRatio;
128-
129-
if(flags != 0) {
130-
sprintf(buf, "flags: %s%s%s%s",
131-
flags & CALIB_USE_INTRINSIC_GUESS ? "+use_intrinsic_guess" : "",
132-
flags & CALIB_FIX_ASPECT_RATIO ? "+fix_aspectRatio" : "",
133-
flags & CALIB_FIX_PRINCIPAL_POINT ? "+fix_principal_point" : "",
134-
flags & CALIB_ZERO_TANGENT_DIST ? "+zero_tangent_dist" : "");
135-
}
136-
137-
fs << "flags" << flags;
138-
139-
fs << "camera_matrix" << cameraMatrix;
140-
fs << "distortion_coefficients" << distCoeffs;
14178

142-
fs << "avg_reprojection_error" << totalAvgErr;
143-
144-
return true;
145-
}
146-
147-
148-
149-
/**
150-
*/
15179
int main(int argc, char *argv[]) {
15280
CommandLineParser parser(argc, argv, keys);
15381
parser.about(about);
@@ -161,7 +89,6 @@ int main(int argc, char *argv[]) {
16189
int squaresY = parser.get<int>("h");
16290
float squareLength = parser.get<float>("sl");
16391
float markerLength = parser.get<float>("ml");
164-
int dictionaryId = parser.get<int>("d");
16592
string outputFile = parser.get<string>(0);
16693

16794
bool showChessboardCorners = parser.get<bool>("sc");
@@ -175,9 +102,10 @@ int main(int argc, char *argv[]) {
175102
if(parser.get<bool>("zt")) calibrationFlags |= CALIB_ZERO_TANGENT_DIST;
176103
if(parser.get<bool>("pc")) calibrationFlags |= CALIB_FIX_PRINCIPAL_POINT;
177104

178-
Ptr<aruco::DetectorParameters> detectorParams = aruco::DetectorParameters::create();
105+
Ptr<aruco::DetectorParameters> detectorParams;
179106
if(parser.has("dp")) {
180-
bool readOk = readDetectorParameters(parser.get<string>("dp"), detectorParams);
107+
FileStorage fs(parser.get<string>("dp"), FileStorage::READ);
108+
bool readOk = aruco::DetectorParameters::readDetectorParameters(fs.root(), detectorParams);
181109
if(!readOk) {
182110
cerr << "Invalid detector parameters file" << endl;
183111
return 0;
@@ -207,8 +135,23 @@ int main(int argc, char *argv[]) {
207135
waitTime = 10;
208136
}
209137

210-
Ptr<aruco::Dictionary> dictionary =
211-
aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
138+
Ptr<aruco::Dictionary> dictionary;
139+
if (parser.has("d")) {
140+
int dictionaryId = parser.get<int>("d");
141+
dictionary = aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
142+
}
143+
else if (parser.has("cd")) {
144+
FileStorage fs(parser.get<std::string>("cd"), FileStorage::READ);
145+
bool readOk = aruco::Dictionary::readDictionary(fs.root(), dictionary);
146+
if(!readOk) {
147+
cerr << "Invalid dictionary file" << endl;
148+
return 0;
149+
}
150+
}
151+
else {
152+
cerr << "Dictionary not specified" << endl;
153+
return 0;
154+
}
212155

213156
// create charuco board object
214157
Ptr<aruco::CharucoBoard> charucoboard =

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