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added aruco pattern support into stereo_calibration.cpp#23515

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asmorkalov merged 1 commit intoopencv:4.xfrom
vovka643:4.x_aruco_stereo_calibration
May 16, 2023
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added aruco pattern support into stereo_calibration.cpp#23515
asmorkalov merged 1 commit intoopencv:4.xfrom
vovka643:4.x_aruco_stereo_calibration

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@vovka643 vovka643 commented Apr 19, 2023

Pull Request Readiness Checklist

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

  • I agree to contribute to the project under Apache 2 License.
  • 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
  • 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

@asmorkalov asmorkalov added this to the 4.8.0 milestone Apr 19, 2023
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@asmorkalov asmorkalov changed the title added aruco pattern into stereo_calibration.cpp. first commit added aruco pattern support into stereo_calibration.cpp Apr 20, 2023
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vovka643 commented Apr 20, 2023

Test.
command:
./example_cpp_stereo_calib.exe -w=6 -h=4 -t=charucoboard -s=30 -ms=15 -ad=DICT_4X4_50 stereo_calib.xml
result:
done with RMS error=0.613817
average epipolar err = 0.315794
result

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asmorkalov commented May 2, 2023

General note: please do not touch formatting and code that is not relevant to charuco.

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asmorkalov commented May 4, 2023 

samples/cpp/stereo_calib.cpp:118: trailing whitespace.
+    
samples/cpp/stereo_calib.cpp:421: trailing whitespace.
+

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asmorkalov commented May 4, 2023

@vovka643 I fixed text formatting a bit and BuildBot issues, but the sample still does not work with charuco.
Command:

./bin/example_cpp_stereo_calib -w=7 -h=5 -t=charucoboard -s=30 -ms=15 -ad=DICT_4X4_50 calib_stereo.xml
./bin/example_cpp_stereo_calib -w=7 -h=5 -t=charucoboard -s=30 -ms=15 -ad=DICT_4X4_50 calib_stereo.xml 
..........................0 pairs have been successfully detected.
Error: too little pairs to run the calibration

In the same time chessboard branch works correctly:

./bin/example_cpp_stereo_calib -w=6 -h=4 -t=chessboard calib_stereo.xml 
.................................................23 pairs have been successfully detected.
Running stereo calibration ...
done with RMS error=0.685277
average epipolar err = 0.298454

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asmorkalov commented May 16, 2023

Found issue in command line. Proper command: ./bin/example_cpp_stereo_calib -w=5 -h=7 -t=charucoboard -s=30 -ms=15 -ad=DICT_5X5_100 calib_stereo.xml

........................................12 pairs have been successfully detected.
Running stereo calibration ...
done with RMS error=0.673323
average epipolar err = 0.268994`

charuco_stereo_calibration

@asmorkalov asmorkalov merged commit bcb49d7 into opencv:4.x May 16, 2023
@asmorkalov asmorkalov mentioned this pull request May 31, 2023
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