potok/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2026-07-29 23:33:05 +04:00
Code Packages Releases Wiki Activity

Define charuco board parameters with command line

Browse Source
This commit is contained in:
vovka643
2023-02-22 00:02:02 +03:00
committed by Alexander Smorkalov
parent 4262127854
commit f7e52076b6
5 changed files with 103 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/interactive-calibration/parametersController.cpp
+44 -12
View File
@@ -3,6 +3,7 @@
// of this distribution and at http://opencv.org/license.html.
#include "parametersController.hpp"
#include <opencv2/objdetect/aruco_dictionary.hpp>
#include <iostream>
@@ -36,7 +37,6 @@ bool calib::parametersController::loadFromFile(const std::string &inputFileName)
return true;
}
readFromNode(reader["charuco_dict"], mCapParams.charucoDictName);
if (readFromNode(reader["charuco_square_lenght"], mCapParams.charucoSquareLength)) {
std::cout << "DEPRECATION: Parameter 'charuco_square_lenght' has been deprecated (typo). Use 'charuco_square_length' instead." << std::endl;
}
@@ -52,7 +52,6 @@ bool calib::parametersController::loadFromFile(const std::string &inputFileName)
readFromNode(reader["frame_filter_conv_param"], mInternalParameters.filterAlpha);
bool retValue =
checkAssertion(mCapParams.charucoDictName >= 0, "Dict name must be >= 0") &&
checkAssertion(mCapParams.charucoMarkerSize > 0, "Marker size must be positive") &&
checkAssertion(mCapParams.charucoSquareLength > 0, "Square size must be positive") &&
checkAssertion(mCapParams.minFramesNum > 1, "Minimal number of frames for calibration < 1") &&
@@ -109,27 +108,53 @@ bool calib::parametersController::loadFromParser(cv::CommandLineParser &parser)
std::string templateType = parser.get<std::string>("t");
if(templateType.find("symcircles", 0) == 0) {
mCapParams.board = CirclesGrid;
mCapParams.boardSize = cv::Size(4, 11);
mCapParams.boardSizeUnits = cv::Size(4, 11);
}
else if(templateType.find("circles", 0) == 0) {
mCapParams.board = AcirclesGrid;
mCapParams.boardSize = cv::Size(4, 11);
mCapParams.boardSizeUnits = cv::Size(4, 11);
}
else if(templateType.find("chessboard", 0) == 0) {
mCapParams.board = Chessboard;
mCapParams.boardSize = cv::Size(7, 7);
mCapParams.boardSizeUnits = cv::Size(7, 7);
}
else if(templateType.find("dualcircles", 0) == 0) {
mCapParams.board = DoubleAcirclesGrid;
mCapParams.boardSize = cv::Size(4, 11);
mCapParams.boardSizeUnits = cv::Size(4, 11);
}
else if(templateType.find("charuco", 0) == 0) {
mCapParams.board = chAruco;
mCapParams.boardSize = cv::Size(5, 7);
mCapParams.charucoDictName = 0;
mCapParams.board = ChArUco;
mCapParams.boardSizeUnits = cv::Size(5, 7);
mCapParams.charucoDictFile = parser.get<std::string>("fad");
std::string arucoDictName = parser.get<std::string>("ad");
if (arucoDictName == "DICT_4X4_50") { mCapParams.charucoDictName = cv::aruco::DICT_4X4_50; }
else if (arucoDictName == "DICT_4X4_100") { mCapParams.charucoDictName = cv::aruco::DICT_4X4_100; }
else if (arucoDictName == "DICT_4X4_250") { mCapParams.charucoDictName = cv::aruco::DICT_4X4_250; }
else if (arucoDictName == "DICT_4X4_1000") { mCapParams.charucoDictName = cv::aruco::DICT_4X4_1000; }
else if (arucoDictName == "DICT_5X5_50") { mCapParams.charucoDictName = cv::aruco::DICT_5X5_50; }
else if (arucoDictName == "DICT_5X5_100") { mCapParams.charucoDictName = cv::aruco::DICT_5X5_100; }
else if (arucoDictName == "DICT_5X5_250") { mCapParams.charucoDictName = cv::aruco::DICT_5X5_250; }
else if (arucoDictName == "DICT_5X5_1000") { mCapParams.charucoDictName = cv::aruco::DICT_5X5_1000; }
else if (arucoDictName == "DICT_6X6_50") { mCapParams.charucoDictName = cv::aruco::DICT_6X6_50; }
else if (arucoDictName == "DICT_6X6_100") { mCapParams.charucoDictName = cv::aruco::DICT_6X6_100; }
else if (arucoDictName == "DICT_6X6_250") { mCapParams.charucoDictName = cv::aruco::DICT_6X6_250; }
else if (arucoDictName == "DICT_6X6_1000") { mCapParams.charucoDictName = cv::aruco::DICT_6X6_1000; }
else if (arucoDictName == "DICT_7X7_50") { mCapParams.charucoDictName = cv::aruco::DICT_7X7_50; }
else if (arucoDictName == "DICT_7X7_100") { mCapParams.charucoDictName = cv::aruco::DICT_7X7_100; }
else if (arucoDictName == "DICT_7X7_250") { mCapParams.charucoDictName = cv::aruco::DICT_7X7_250; }
else if (arucoDictName == "DICT_7X7_1000") { mCapParams.charucoDictName = cv::aruco::DICT_7X7_1000; }
else if (arucoDictName == "DICT_ARUCO_ORIGINAL") { mCapParams.charucoDictName = cv::aruco::DICT_ARUCO_ORIGINAL; }
else if (arucoDictName == "DICT_APRILTAG_16h5") { mCapParams.charucoDictName = cv::aruco::DICT_APRILTAG_16h5; }
else if (arucoDictName == "DICT_APRILTAG_25h9") { mCapParams.charucoDictName = cv::aruco::DICT_APRILTAG_25h9; }
else if (arucoDictName == "DICT_APRILTAG_36h10") { mCapParams.charucoDictName = cv::aruco::DICT_APRILTAG_36h10; }
else if (arucoDictName == "DICT_APRILTAG_36h11") { mCapParams.charucoDictName = cv::aruco::DICT_APRILTAG_36h11; }
else {
std::cout << "incorrect name of aruco dictionary \n";
return false;
}
mCapParams.charucoSquareLength = 200;
mCapParams.charucoMarkerSize = 100;
}
@@ -139,8 +164,15 @@ bool calib::parametersController::loadFromParser(cv::CommandLineParser &parser)
}
if(parser.has("w") && parser.has("h")) {
mCapParams.boardSize = cv::Size(parser.get<int>("w"), parser.get<int>("h"));
if(!checkAssertion(mCapParams.boardSize.width > 0 || mCapParams.boardSize.height > 0,
mCapParams.inputBoardSize = cv::Size(parser.get<int>("w"), parser.get<int>("h"));
//only for chessboard pattern board size given in inner corners
if (templateType != "chessboard") {
mCapParams.boardSizeUnits = mCapParams.inputBoardSize;
}
else {
mCapParams.boardSizeInnerCorners = mCapParams.inputBoardSize;
}
if(!checkAssertion(mCapParams.inputBoardSize.width > 0 || mCapParams.inputBoardSize.height > 0,
"Board size must be positive"))
return false;
}