Add charuco pattern into calibration.cpp by vovka643 · Pull Request #23486 · opencv/opencv

vovka643 · 2023-04-12T20:52:35Z

added charuco pattern into calibration.cpp. Added charuco pattern with predefined aruco dictionary and with dictionary from file.

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[х] I agree to contribute to the project under Apache 2 License.
[х] 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
[х] The PR is proposed to the proper branch
[х] There is a reference to the original bug report and related work
[х] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
Patch to opencv_extra has the same branch name.
[х] The feature is well documented and sample code can be built with the project CMake

samples/cpp/calibration.cpp

asmorkalov · 2023-04-14T16:56:01Z

samples/cpp/calibration.cpp

+                    dictionary.readDictionary(fn);
+                }
+
+                cv::aruco::CharucoBoard ch_board ({ boardSize.width + 1, boardSize.height + 1 },


Still relevant.

Discussed the issue offline. Decided to remove +1, but add note about the board size units. Chessboard and radon board size are defined in inner corners, all other boards - in elements (circles or squares).

samples/cpp/calibration.cpp

asmorkalov · 2023-04-18T06:28:54Z

/home/ci/opencv/samples/cpp/calibration.cpp:552:122: warning: enum constant in boolean context [-Wint-in-bool-context]

/home/ci/opencv/samples/cpp/calibration.cpp:565:37: warning: comparison of integer expressions of different signedness: 'std::vector<cv::Point_<float> >::size_type' {aka 'long unsigned int'} and 'int' [-Wsign-compare]

asmorkalov · 2023-04-18T12:30:13Z

./example_cpp_calibration -w=7 -h=5 -pt=charucoboard -ad=DICT_5X5_100 ./calib.list -o=charuco_calib.yaml
...
ERRORS:
Parameter 'ad': can not convert: [DICT_5X5_100] to [int]

asmorkalov · 2023-04-18T12:29:37Z

samples/cpp/calibration.cpp

+        "     [-ad=<arucoDict>]        # Aruco dictionary name for charuco board"
+        "     [-adf=<dictFilename>]    # Custom aruco dictionary file for charuco board"


\n is missing at the end of the line.

asmorkalov · 2023-04-18T13:12:56Z

The sample uses wrong visualization or something is broken in the pipeline. I see this:

vovka643 · 2023-04-18T14:06:52Z

You should write inner corners of desk. For your desk you should use parameters: h=4, w =6

asmorkalov · 2023-04-18T14:52:12Z

To summarize test results:

Charuco board is equal to chessboard (checkerboard). Command ./example_cpp_calibration -w=6 -h=4 -pt=chessboard ./calib.list -o=charuco_calib.yaml works well, produce realistic results and visualization.
./example_cpp_calibration -w=6 -h=4 -pt=charucoboard -ad=5 ./calib.list -o=charuco_calib.yaml produces broken visualization and also not realistic calibration results: RMS error reported by calibrateCamera: 52.5128. See image above.
PR added charuco board generation to gen_pattern.py #23363 claims that the board has 7x5 size, but the proposed parameters do not work.

samples/cpp/calibration.cpp

asmorkalov · 2023-04-19T13:04:51Z

Please ignore my previous statement about wrong visualization and calibration. I screwed up with board size. ./example_cpp_calibration -w=4 -h=6 -pt=chessboard ./calib.list -o=charuco_calib.yaml works expected.

samples/cpp/calibration.cpp

…cv into 4.x_calibration_with_aruco

asmorkalov

👍 Tested manually with command ./example_cpp_calibration -w=5 -h=7 -pt=charuco -ad=DICT_5X5_100 ./calib.xml -o=charuco_calib.yml and template from #23363

Add charuco pattern into calibration.cpp opencv#23486 Added charuco pattern into calibration.cpp. Added charuco pattern with predefined aruco dictionary and with dictionary from file. ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [х] I agree to contribute to the project under Apache 2 License. - [х] 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 - [х] The PR is proposed to the proper branch - [х] There is a reference to the original bug report and related work - [х] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [х] The feature is well documented and sample code can be built with the project CMake

add charuco pattern

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asmorkalov self-requested a review April 13, 2023 06:18

asmorkalov self-assigned this Apr 13, 2023

asmorkalov added the category: samples label Apr 13, 2023

asmorkalov requested changes Apr 13, 2023

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asmorkalov changed the title ~~add charuco pattern into calibration.cpp~~ WIP: add charuco pattern into calibration.cpp Apr 14, 2023

fix error with charuco_detector

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asmorkalov reviewed Apr 14, 2023

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asmorkalov changed the title ~~WIP: add charuco pattern into calibration.cpp~~ Add charuco pattern into calibration.cpp Apr 14, 2023

vovka643 added 2 commits April 16, 2023 13:47

refactor calibration.cpp

21e3bef

undo code formatting

486f19c

asmorkalov added this to the 4.8.0 milestone Apr 18, 2023

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asmorkalov requested changes Apr 19, 2023

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fix errors in calbration.cpp

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asmorkalov mentioned this pull request Apr 19, 2023

CharucoDetector::detectBoard returns garbadge in case of board parameters mismatch #23517

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vovka643 added 3 commits April 20, 2023 22:25

changed aruco dictionary number on aruco dictionary name

3ec27e7

fix few errors

a820dde

fix few errors

06eb1d7

asmorkalov reviewed Apr 21, 2023

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vovka643 added 2 commits April 21, 2023 16:49

fix warning

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fix small error

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asmorkalov reviewed Apr 24, 2023

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vovka643 and others added 5 commits April 24, 2023 21:44

draft

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changed parameters of charuco board

c2fc7a7

fix small error

6dc3761

Merge branch '4.x_calibration_with_aruco' of github.com:vovka643/open…

bf94628

…cv into 4.x_calibration_with_aruco

Code review fixes.

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asmorkalov approved these changes Apr 26, 2023

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asmorkalov merged commit a174a6c into opencv:4.x Apr 26, 2023

asmorkalov mentioned this pull request May 31, 2023

(5.x) Merge 4.x #23718

Merged

		" [-ad=<arucoDict>] # Aruco dictionary name for charuco board"
		" [-adf=<dictFilename>] # Custom aruco dictionary file for charuco board"

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vovka643 commented Apr 12, 2023

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