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Merge pull request #22986 from AleksandrPanov:move_contrib_charuco_to_main_objdetect

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merge with https://github.com/opencv/opencv_contrib/pull/3394

move Charuco API from contrib to main repo:

- add CharucoDetector:
```
CharucoDetector::detectBoard(InputArray image, InputOutputArrayOfArrays markerCorners, InputOutputArray markerIds, 
                             OutputArray charucoCorners, OutputArray charucoIds) const // detect charucoCorners and/or markerCorners
CharucoDetector::detectDiamonds(InputArray image, InputOutputArrayOfArrays _markerCorners,
                                InputOutputArrayOfArrays _markerIds, OutputArrayOfArrays _diamondCorners,
                                OutputArray _diamondIds) const
```

- add `matchImagePoints()` for `CharucoBoard`
- remove contrib aruco dependencies from interactive-calibration tool
- move almost all aruco tests to objdetect

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake
This commit is contained in:
Alexander Panov
2022-12-28 17:28:59 +03:00
committed by GitHub
parent 9627ab9462
commit 121034876d
21 changed files with 2721 additions and 499 deletions
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apps/interactive-calibration/frameProcessor.cpp
+20 -42
View File
@@ -11,7 +11,6 @@
#include <vector>
#include <string>
#include <algorithm>
#include <limits>
using namespace calib;
@@ -74,17 +73,12 @@ bool CalibProcessor::detectAndParseChessboard(const cv::Mat &frame)
bool CalibProcessor::detectAndParseChAruco(const cv::Mat &frame)
{
#ifdef HAVE_OPENCV_ARUCO
cv::Ptr<cv::aruco::Board> board = mCharucoBoard.staticCast<cv::aruco::Board>();
std::vector<std::vector<cv::Point2f> > corners, rejected;
std::vector<int> ids;
cv::aruco::detectMarkers(frame, cv::makePtr<cv::aruco::Dictionary>(mArucoDictionary), corners, ids, cv::makePtr<cv::aruco::DetectorParameters>(), rejected);
cv::aruco::refineDetectedMarkers(frame, board, corners, ids, rejected);
cv::Mat currentCharucoCorners, currentCharucoIds;
if(ids.size() > 0)
cv::aruco::interpolateCornersCharuco(corners, ids, frame, mCharucoBoard, currentCharucoCorners,
currentCharucoIds);
detector->detectBoard(frame, currentCharucoCorners, currentCharucoIds, corners, ids);
if(ids.size() > 0) cv::aruco::drawDetectedMarkers(frame, corners);
if(currentCharucoCorners.total() > 3) {
@@ -102,9 +96,6 @@ bool CalibProcessor::detectAndParseChAruco(const cv::Mat &frame)
mCurrentCharucoIds = currentCharucoIds;
return true;
}
#else
CV_UNUSED(frame);
#endif
return false;
}
@@ -155,6 +146,7 @@ bool CalibProcessor::detectAndParseDualACircles(const cv::Mat &frame)
void CalibProcessor::saveFrameData()
{
std::vector<cv::Point3f> objectPoints;
std::vector<cv::Point2f> imagePoints;
switch(mBoardType)
{
@@ -169,6 +161,11 @@ void CalibProcessor::saveFrameData()
case chAruco:
mCalibData->allCharucoCorners.push_back(mCurrentCharucoCorners);
mCalibData->allCharucoIds.push_back(mCurrentCharucoIds);
mCharucoBoard->matchImagePoints(mCurrentCharucoCorners, mCurrentCharucoIds, objectPoints, imagePoints);
CV_Assert(mCurrentCharucoIds.total() == imagePoints.size());
mCalibData->imagePoints.push_back(imagePoints);
mCalibData->objectPoints.push_back(objectPoints);
break;
case CirclesGrid:
objectPoints.reserve(mBoardSize.height*mBoardSize.width);
@@ -248,37 +245,17 @@ bool CalibProcessor::checkLastFrame()
else
mCalibData->cameraMatrix.copyTo(tmpCamMatrix);
if(mBoardType != chAruco) {
cv::Mat r, t, angles;
cv::solvePnP(mCalibData->objectPoints.back(), mCurrentImagePoints, tmpCamMatrix, mCalibData->distCoeffs, r, t);
RodriguesToEuler(r, angles, CALIB_DEGREES);
if(fabs(angles.at<double>(0)) > badAngleThresh || fabs(angles.at<double>(1)) > badAngleThresh) {
mCalibData->objectPoints.pop_back();
mCalibData->imagePoints.pop_back();
isFrameBad = true;
}
}
else {
#ifdef HAVE_OPENCV_ARUCO
cv::Mat r, t, angles;
std::vector<cv::Point3f> allObjPoints;
allObjPoints.reserve(mCurrentCharucoIds.total());
for(size_t i = 0; i < mCurrentCharucoIds.total(); i++) {
int pointID = mCurrentCharucoIds.at<int>((int)i);
CV_Assert(pointID >= 0 && pointID < (int)mCharucoBoard->getChessboardCorners().size());
allObjPoints.push_back(mCharucoBoard->getChessboardCorners()[pointID]);
}
cv::solvePnP(allObjPoints, mCurrentCharucoCorners, tmpCamMatrix, mCalibData->distCoeffs, r, t);
RodriguesToEuler(r, angles, CALIB_DEGREES);
if(180.0 - fabs(angles.at<double>(0)) > badAngleThresh || fabs(angles.at<double>(1)) > badAngleThresh) {
isFrameBad = true;
cv::Mat r, t, angles;
cv::solvePnP(mCalibData->objectPoints.back(), mCalibData->imagePoints.back(), tmpCamMatrix, mCalibData->distCoeffs, r, t);
RodriguesToEuler(r, angles, CALIB_DEGREES);
if(fabs(angles.at<double>(0)) > badAngleThresh || fabs(angles.at<double>(1)) > badAngleThresh) {
mCalibData->objectPoints.pop_back();
mCalibData->imagePoints.pop_back();
if (mCalibData->allCharucoCorners.size()) {
mCalibData->allCharucoCorners.pop_back();
mCalibData->allCharucoIds.pop_back();
}
#endif
isFrameBad = true;
}
return isFrameBad;
}
@@ -295,15 +272,16 @@ CalibProcessor::CalibProcessor(cv::Ptr<calibrationData> data, captureParameters
mTemplDist = capParams.templDst;
mSaveFrames = capParams.saveFrames;
mZoom = capParams.zoom;
cv::aruco::CharucoParameters charucoParameters;
charucoParameters.tryRefineMarkers = true;
switch(mBoardType)
{
case chAruco:
#ifdef HAVE_OPENCV_ARUCO
mArucoDictionary = cv::aruco::getPredefinedDictionary(cv::aruco::PredefinedDictionaryType(capParams.charucoDictName));
mCharucoBoard = cv::aruco::CharucoBoard::create(mBoardSize.width, mBoardSize.height, capParams.charucoSquareLength,
capParams.charucoMarkerSize, mArucoDictionary);
#endif
mCharucoBoard = cv::makePtr<cv::aruco::CharucoBoard>(cv::Size(mBoardSize.width + 1, mBoardSize.height + 1), capParams.charucoSquareLength,
capParams.charucoMarkerSize, mArucoDictionary);
detector = cv::makePtr<cv::aruco::CharucoDetector>(cv::aruco::CharucoDetector(*mCharucoBoard, charucoParameters));
break;
case CirclesGrid:
case AcirclesGrid: