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Merge pull request #23018 from stopmosk:move-aruco-tutorial
Move Aruco tutorials and samples to main repo #23018 merge with https://github.com/opencv/opencv_contrib/pull/3401 merge with https://github.com/opencv/opencv_extra/pull/1143 ### 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 - [ ] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake --------- Co-authored-by: AleksandrPanov <alexander.panov@xperience.ai> Co-authored-by: Alexander Smorkalov <alexander.smorkalov@xperience.ai>
This commit is contained in:
Sergei Shutov
GitHub
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#include <iostream>
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#include <vector>
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#include <opencv2/highgui.hpp>
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#include <opencv2/objdetect/aruco_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 = "Pose estimation using a ArUco Planar Grid board";
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//! [aruco_detect_board_keys]
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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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"{l | | Marker side length (in pixels) }"
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"{s | | Separation between two consecutive markers in the grid (in pixels)}"
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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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"{cd | | Input file with custom dictionary }"
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"{c | | Output file with calibrated camera parameters }"
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"{v | | Input from video or image file, if omitted, 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 | | Apply refind strategy }"
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"{r | | show rejected candidates too }";
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}
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//! [aruco_detect_board_keys]
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static void readDetectorParamsFromCommandLine(CommandLineParser &parser, aruco::DetectorParameters& detectorParams) {
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if(parser.has("dp")) {
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FileStorage fs(parser.get<string>("dp"), FileStorage::READ);
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bool readOk = detectorParams.readDetectorParameters(fs.root());
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if(!readOk) {
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cerr << "Invalid detector parameters file" << endl;
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throw -1;
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}
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}
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}
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static void readCameraParamsFromCommandLine(CommandLineParser &parser, Mat& camMatrix, Mat& distCoeffs) {
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if(parser.has("c")) {
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bool readOk = readCameraParameters(parser.get<string>("c"), camMatrix, distCoeffs);
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if(!readOk) {
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cerr << "Invalid camera file" << endl;
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throw -1;
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}
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}
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}
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static void readDictionatyFromCommandLine(CommandLineParser &parser, aruco::Dictionary& dictionary) {
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if (parser.has("d")) {
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int dictionaryId = parser.get<int>("d");
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dictionary = aruco::getPredefinedDictionary(aruco::PredefinedDictionaryType(dictionaryId));
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}
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else if (parser.has("cd")) {
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FileStorage fs(parser.get<string>("cd"), FileStorage::READ);
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bool readOk = dictionary.readDictionary(fs.root());
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if(!readOk) {
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cerr << "Invalid dictionary file" << endl;
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throw -1;
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}
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}
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else {
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cerr << "Dictionary not specified" << endl;
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throw -1;
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}
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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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//! [aruco_detect_board_full_sample]
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int markersX = parser.get<int>("w");
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int markersY = parser.get<int>("h");
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float markerLength = parser.get<float>("l");
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float markerSeparation = parser.get<float>("s");
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bool showRejected = parser.has("r");
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bool refindStrategy = parser.has("rs");
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int camId = parser.get<int>("ci");
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Mat camMatrix, distCoeffs;
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readCameraParamsFromCommandLine(parser, camMatrix, distCoeffs);
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aruco::DetectorParameters detectorParams;
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detectorParams.cornerRefinementMethod = aruco::CORNER_REFINE_SUBPIX; // do corner refinement in markers
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readDetectorParamsFromCommandLine(parser, detectorParams);
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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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aruco::Dictionary dictionary = aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
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readDictionatyFromCommandLine(parser, dictionary);
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aruco::ArucoDetector detector(dictionary, detectorParams);
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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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float axisLength = 0.5f * ((float)min(markersX, markersY) * (markerLength + markerSeparation) +
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markerSeparation);
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// Create GridBoard object
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//! [aruco_create_board]
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aruco::GridBoard board(Size(markersX, markersY), markerLength, markerSeparation, dictionary);
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//! [aruco_create_board]
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// Also you could create Board object
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//vector<vector<Point3f> > objPoints; // array of object points of all the marker corners in the board
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//vector<int> ids; // vector of the identifiers of the markers in the board
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//aruco::Board board(objPoints, dictionary, ids);
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double totalTime = 0;
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int totalIterations = 0;
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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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double tick = (double)getTickCount();
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vector<int> ids;
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vector<vector<Point2f>> corners, rejected;
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Vec3d rvec, tvec;
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//! [aruco_detect_and_refine]
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// Detect markers
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detector.detectMarkers(image, corners, ids, rejected);
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// Refind strategy to detect more markers
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if(refindStrategy)
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detector.refineDetectedMarkers(image, board, corners, ids, rejected, camMatrix,
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distCoeffs);
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//! [aruco_detect_and_refine]
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// Estimate board pose
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int markersOfBoardDetected = 0;
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if(!ids.empty()) {
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// Get object and image points for the solvePnP function
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cv::Mat objPoints, imgPoints;
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board.matchImagePoints(corners, ids, objPoints, imgPoints);
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// Find pose
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cv::solvePnP(objPoints, imgPoints, camMatrix, distCoeffs, rvec, tvec);
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markersOfBoardDetected = (int)objPoints.total() / 4;
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}
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double currentTime = ((double)getTickCount() - tick) / getTickFrequency();
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totalTime += currentTime;
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totalIterations++;
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if(totalIterations % 30 == 0) {
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cout << "Detection Time = " << currentTime * 1000 << " ms "
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<< "(Mean = " << 1000 * totalTime / double(totalIterations) << " ms)" << endl;
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}
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// Draw results
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image.copyTo(imageCopy);
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if(!ids.empty()) {
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aruco::drawDetectedMarkers(imageCopy, corners, ids);
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}
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if(showRejected && !rejected.empty())
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aruco::drawDetectedMarkers(imageCopy, rejected, noArray(), Scalar(100, 0, 255));
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if(markersOfBoardDetected > 0)
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cv::drawFrameAxes(imageCopy, camMatrix, distCoeffs, rvec, tvec, axisLength);
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imshow("out", imageCopy);
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char key = (char)waitKey(waitTime);
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if(key == 27) break;
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//! [aruco_detect_board_full_sample]
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}
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return 0;
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}
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