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functioning version with a default set of flags that works with the broken charuco boards
fixed small bug
asmorkalov
requested changes
Jun 8, 2023
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| # cv.drawChessboardCorners(vis, pattern_size, corners, found) | ||
| cv.aruco.drawDetectedCornersCharuco(vis, corners, charucoIds=_charucoIds) |
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sample supports both chessboards and charuco boards. The change breaks the first one.
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| fov = 60 | ||
| focal_length = width / (2 * np.tan(fov * np.pi / 360)) | ||
| mtx = np.array([[focal_length, 0, w / 2], | ||
| [0, focal_length, h / 2], | ||
| [0, 0, 1]]) | ||
| dist = np.array([[0, 0, 0, 0, 0]], dtype=np.float32) | ||
| flags = cv2.CALIB_USE_INTRINSIC_GUESS + cv2.CALIB_FIX_K3 + cv2.CALIB_FIX_K4 + cv2.CALIB_FIX_K5 + cv2.CALIB_FIX_K6 | ||
| flags += cv2.CALIB_FIX_K2 | ||
| flags += cv2.CALIB_ZERO_TANGENT_DIST | ||
| flags += cv2.CALIB_FIX_PRINCIPAL_POINT | ||
| flags += cv2.CALIB_FIX_ASPECT_RATIO | ||
| rms, camera_matrix, dist_coefs, _rvecs, _tvecs = cv.calibrateCamera(obj_points, img_points, (w, h), mtx, dist, flags=flags) |
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It's not relevant to the sample
| for (corners, pattern_points) in chessboards: | ||
| img_points.append(corners) | ||
| obj_points.append(pattern_points) | ||
| obj_points_tmp, img_points_tmp = matchImagePointsforcharuco(board, corners, _charucoIds) |
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There is matchImagePoints method for it: https://docs.opencv.org/4.x/d4/db2/classcv_1_1aruco_1_1Board.html#a305c3c47c1f87562ed06de5c7e703e4f
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Patch to opencv_extra has the same branch name.