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fix charuco_diamond_detection.markdown
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@AleksandrPanov
AleksandrPanov committed Apr 4, 2024
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87 changes: 28 additions & 59 deletions modules/aruco/samples/create_diamond.cpp
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Original file line number Diff line number Diff line change
@@ -1,44 +1,5 @@
/*
By downloading, copying, installing or using the software you agree to this
license. If you do not agree to this license, do not download, install,
copy or use the software.
License Agreement
For Open Source Computer Vision Library
(3-clause BSD License)
Copyright (C) 2013, OpenCV Foundation, all rights reserved.
Third party copyrights are property of their respective owners.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the names of the copyright holders nor the names of the contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
This software is provided by the copyright holders and contributors "as is" and
any express or implied warranties, including, but not limited to, the implied
warranties of merchantability and fitness for a particular purpose are
disclaimed. In no event shall copyright holders or contributors be liable for
any direct, indirect, incidental, special, exemplary, or consequential damages
(including, but not limited to, procurement of substitute goods or services;
loss of use, data, or profits; or business interruption) however caused
and on any theory of liability, whether in contract, strict liability,
or tort (including negligence or otherwise) arising in any way out of
the use of this software, even if advised of the possibility of such damage.
*/


#include <opencv2/highgui.hpp>
#include <opencv2/aruco/charuco.hpp>
#include <opencv2/objdetect/charuco_detector.hpp>
#include <vector>
#include <iostream>

Expand All @@ -48,28 +9,25 @@ using namespace cv;
namespace {
const char* about = "Create a ChArUco marker image";
const char* keys =
"{@outfile |<none> | Output image }"
"{sl | | Square side length (in pixels) }"
"{ml | | Marker side length (in pixels) }"
"{d | | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
"{@outfile | res.png | Output image }"
"{sl | 100 | Square side length (in pixels) }"
"{ml | 60 | Marker side length (in pixels) }"
"{cd | | Input file with custom dictionary }"
"{d | 10 | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
"DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
"DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
"DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
"{ids |<none> | Four ids for the ChArUco marker: id1,id2,id3,id4 }"
"{m | 0 | Margins size (in pixels) }"
"{bb | 1 | Number of bits in marker borders }"
"{si | false | show generated image }";
"{ids |0, 1, 2, 3 | Four ids for the ChArUco marker: id1,id2,id3,id4 }"
"{m | 0 | Margins size (in pixels) }"
"{bb | 1 | Number of bits in marker borders }"
"{si | false | show generated image }";
}

/**
*/
int main(int argc, char *argv[]) {
CommandLineParser parser(argc, argv, keys);
parser.about(about);

if(argc < 4) {
if (argc == 1) {
parser.printMessage();
return 0;
}

int squareLength = parser.get<int>("sl");
Expand All @@ -79,17 +37,25 @@ int main(int argc, char *argv[]) {
int margins = parser.get<int>("m");
int borderBits = parser.get<int>("bb");
bool showImage = parser.get<bool>("si");
String out = parser.get<String>(0);
string out = parser.get<string>(0);

if(!parser.check()) {
parser.printErrors();
return 0;
}

aruco::Dictionary dictionary = aruco::getPredefinedDictionary(aruco::PredefinedDictionaryType(dictionaryId));
if (parser.has("cd")) {
FileStorage fs(parser.get<std::string>("cd"), FileStorage::READ);
bool readOk = dictionary.aruco::Dictionary::readDictionary(fs.root());
if(!readOk) {
cerr << "Invalid dictionary file" << endl;
return 0;
}
}

istringstream ss(idsString);
vector< string > splittedIds;
vector<string> splittedIds;
string token;
while(getline(ss, token, ','))
splittedIds.push_back(token);
Expand All @@ -102,16 +68,19 @@ int main(int argc, char *argv[]) {
for(int i = 0; i < 4; i++)
ids[i] = atoi(splittedIds[i].c_str());

//! [generate_diamond]
vector<int> diamondIds = {ids[0], ids[1], ids[2], ids[3]};
aruco::CharucoBoard charucoBoard(Size(3, 3), (float)squareLength, (float)markerLength, dictionary, diamondIds);
Mat markerImg;
aruco::drawCharucoDiamond(makePtr<aruco::Dictionary>(dictionary), ids, squareLength, markerLength, markerImg, margins,
borderBits);
charucoBoard.generateImage(Size(3*squareLength + 2*margins, 3*squareLength + 2*margins), markerImg, margins, borderBits);
//! [generate_diamond]

if(showImage) {
imshow("board", markerImg);
waitKey(0);
}

imwrite(out, markerImg);

if (out != "")
imwrite(out, markerImg);
return 0;
}
6 changes: 3 additions & 3 deletions modules/aruco/samples/detect_board_charuco.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -121,14 +121,14 @@ int main(int argc, char *argv[]) {
float axisLength = 0.5f * ((float)min(squaresX, squaresY) * (squareLength));

// create charuco board object
aruco::CharucoBoard charucoboard(Size(squaresX, squaresY), squareLength, markerLength, dictionary);
aruco::CharucoBoard charucoBoard(Size(squaresX, squaresY), squareLength, markerLength, dictionary);

// create charuco detector
aruco::CharucoParameters charucoParams;
charucoParams.tryRefineMarkers = refine; // if tryRefineMarkers, refineDetectedMarkers() will be used in detectBoard()
charucoParams.cameraMatrix = camMatrix; // cameraMatrix can be used in detectBoard()
charucoParams.distCoeffs = distCoeffs; // distCoeffs can be used in detectBoard()
aruco::CharucoDetector charucoDetector(charucoboard, charucoParams, detectorParams);
aruco::CharucoDetector charucoDetector(charucoBoard, charucoParams, detectorParams);

double totalTime = 0;
int totalIterations = 0;
Expand Down Expand Up @@ -156,7 +156,7 @@ int main(int argc, char *argv[]) {
bool validPose = false;
if(camMatrix.total() != 0 && distCoeffs.total() != 0 && charucoIds.size() >= 4) {
Mat objPoints, imgPoints;
charucoboard.matchImagePoints(charucoCorners, charucoIds, objPoints, imgPoints);
charucoBoard.matchImagePoints(charucoCorners, charucoIds, objPoints, imgPoints);
validPose = solvePnP(objPoints, imgPoints, camMatrix, distCoeffs, rvec, tvec);
}
//! [poseCharuco]
Expand Down
132 changes: 59 additions & 73 deletions modules/aruco/samples/detect_diamonds.cpp
View file
Original file line number Diff line number Diff line change
@@ -1,46 +1,9 @@
/*
By downloading, copying, installing or using the software you agree to this
license. If you do not agree to this license, do not download, install,
copy or use the software.
License Agreement
For Open Source Computer Vision Library
(3-clause BSD License)
Copyright (C) 2013, OpenCV Foundation, all rights reserved.
Third party copyrights are property of their respective owners.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the names of the copyright holders nor the names of the contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
This software is provided by the copyright holders and contributors "as is" and
any express or implied warranties, including, but not limited to, the implied
warranties of merchantability and fitness for a particular purpose are
disclaimed. In no event shall copyright holders or contributors be liable for
any direct, indirect, incidental, special, exemplary, or consequential damages
(including, but not limited to, procurement of substitute goods or services;
loss of use, data, or profits; or business interruption) however caused
and on any theory of liability, whether in contract, strict liability,
or tort (including negligence or otherwise) arising in any way out of
the use of this software, even if advised of the possibility of such damage.
*/


#include <opencv2/highgui.hpp>
#include <opencv2/aruco/charuco.hpp>
#include <vector>
#include <iostream>
#include <opencv2/objdetect/aruco_detector.hpp>
#include <opencv2/objdetect/charuco_detector.hpp>
#include "aruco_samples_utility.hpp"

using namespace std;
Expand Down Expand Up @@ -87,20 +50,20 @@ int main(int argc, char *argv[]) {
bool autoScale = parser.has("as");
float autoScaleFactor = autoScale ? parser.get<float>("as") : 1.f;

Ptr<aruco::DetectorParameters> detectorParams = makePtr<aruco::DetectorParameters>();
aruco::DetectorParameters detectorParams;
if(parser.has("dp")) {
FileStorage fs(parser.get<string>("dp"), FileStorage::READ);
bool readOk = detectorParams->readDetectorParameters(fs.root());
bool readOk = detectorParams.readDetectorParameters(fs.root());
if(!readOk) {
cerr << "Invalid detector parameters file" << endl;
return 0;
}
}
if (parser.has("refine")) {
//override cornerRefinementMethod read from config file
detectorParams->cornerRefinementMethod = parser.get<aruco::CornerRefineMethod>("refine");
detectorParams.cornerRefinementMethod = parser.get<aruco::CornerRefineMethod>("refine");
}
std::cout << "Corner refinement method (0: None, 1: Subpixel, 2:contour, 3: AprilTag 2): " << (int)detectorParams->cornerRefinementMethod << std::endl;
std::cout << "Corner refinement method (0: None, 1: Subpixel, 2:contour, 3: AprilTag 2): " << (int)detectorParams.cornerRefinementMethod << std::endl;

int camId = parser.get<int>("ci");
String video;
Expand Down Expand Up @@ -154,43 +117,65 @@ int main(int argc, char *argv[]) {
double totalTime = 0;
int totalIterations = 0;

aruco::CharucoBoard charucoBoard(Size(3, 3), squareLength, markerLength, dictionary);
aruco::CharucoDetector detector(charucoBoard, aruco::CharucoParameters(), detectorParams);

while(inputVideo.grab()) {
Mat image, imageCopy;
inputVideo.retrieve(image);

double tick = (double)getTickCount();

vector< int > markerIds;
vector< Vec4i > diamondIds;
vector< vector< Point2f > > markerCorners, rejectedMarkers, diamondCorners;
vector< Vec3d > rvecs, tvecs;
//! [detect_diamonds]
vector<int> markerIds;
vector<Vec4i> diamondIds;
vector<vector<Point2f> > markerCorners, rejectedMarkers, diamondCorners;
vector<Vec3d> rvecs, tvecs;

// detect markers
aruco::detectMarkers(image, makePtr<aruco::Dictionary>(dictionary), markerCorners, markerIds, detectorParams,
rejectedMarkers);

// detect diamonds
if(markerIds.size() > 0)
aruco::detectCharucoDiamond(image, markerCorners, markerIds,
squareLength / markerLength, diamondCorners, diamondIds,
camMatrix, distCoeffs);
detector.detectDiamonds(image, diamondCorners, diamondIds, markerCorners, markerIds);
//! [detect_diamonds]

//! [diamond_pose_estimation]
// estimate diamond pose
if(estimatePose && diamondIds.size() > 0) {
size_t N = diamondIds.size();
if(estimatePose && N > 0) {
cv::Mat objPoints(4, 1, CV_32FC3);
rvecs.resize(N);
tvecs.resize(N);
if(!autoScale) {
aruco::estimatePoseSingleMarkers(diamondCorners, squareLength, camMatrix,
distCoeffs, rvecs, tvecs);
} else {
// set coordinate system
objPoints.ptr<Vec3f>(0)[0] = Vec3f(-squareLength/2.f, squareLength/2.f, 0);
objPoints.ptr<Vec3f>(0)[1] = Vec3f(squareLength/2.f, squareLength/2.f, 0);
objPoints.ptr<Vec3f>(0)[2] = Vec3f(squareLength/2.f, -squareLength/2.f, 0);
objPoints.ptr<Vec3f>(0)[3] = Vec3f(-squareLength/2.f, -squareLength/2.f, 0);
// Calculate pose for each marker
for (size_t i = 0ull; i < N; i++)
solvePnP(objPoints, diamondCorners.at(i), camMatrix, distCoeffs, rvecs.at(i), tvecs.at(i));
//! [diamond_pose_estimation]
/* //! [diamond_pose_estimation_as_charuco]
for (size_t i = 0ull; i < N; i++) { // estimate diamond pose as Charuco board
Mat objPoints_b, imgPoints;
// The coordinate system of the diamond is placed in the board plane centered in the bottom left corner
vector<int> charucoIds = {0, 1, 3, 2}; // if CCW order, Z axis pointing in the plane
// vector<int> charucoIds = {0, 2, 3, 1}; // if CW order, Z axis pointing out the plane
charucoBoard.matchImagePoints(diamondCorners[i], charucoIds, objPoints_b, imgPoints);
solvePnP(objPoints_b, imgPoints, camMatrix, distCoeffs, rvecs[i], tvecs[i]);
}
//! [diamond_pose_estimation_as_charuco] */
}
else {
// if autoscale, extract square size from last diamond id
for(unsigned int i = 0; i < diamondCorners.size(); i++) {
float autoSquareLength = autoScaleFactor * float(diamondIds[i].val[3]);
vector< vector< Point2f > > currentCorners;
vector< Vec3d > currentRvec, currentTvec;
for(size_t i = 0; i < N; i++) {
float sqLenScale = autoScaleFactor * float(diamondIds[i].val[3]);
vector<vector<Point2f> > currentCorners;
vector<Vec3d> currentRvec, currentTvec;
currentCorners.push_back(diamondCorners[i]);
aruco::estimatePoseSingleMarkers(currentCorners, autoSquareLength, camMatrix,
distCoeffs, currentRvec, currentTvec);
rvecs.push_back(currentRvec[0]);
tvecs.push_back(currentTvec[0]);
// set coordinate system
objPoints.ptr<Vec3f>(0)[0] = Vec3f(-sqLenScale/2.f, sqLenScale/2.f, 0);
objPoints.ptr<Vec3f>(0)[1] = Vec3f(sqLenScale/2.f, sqLenScale/2.f, 0);
objPoints.ptr<Vec3f>(0)[2] = Vec3f(sqLenScale/2.f, -sqLenScale/2.f, 0);
objPoints.ptr<Vec3f>(0)[3] = Vec3f(-sqLenScale/2.f, -sqLenScale/2.f, 0);
solvePnP(objPoints, diamondCorners.at(i), camMatrix, distCoeffs, rvecs.at(i), tvecs.at(i));
}
}
}
Expand All @@ -214,20 +199,21 @@ int main(int argc, char *argv[]) {
if(showRejected && rejectedMarkers.size() > 0)
aruco::drawDetectedMarkers(imageCopy, rejectedMarkers, noArray(), Scalar(100, 0, 255));

//! [draw_diamonds]
if(diamondIds.size() > 0) {
aruco::drawDetectedDiamonds(imageCopy, diamondCorners, diamondIds);
//! [draw_diamonds]

//! [draw_diamond_pose_estimation]
if(estimatePose) {
for(unsigned int i = 0; i < diamondIds.size(); i++)
cv::drawFrameAxes(imageCopy, camMatrix, distCoeffs, rvecs[i], tvecs[i],
squareLength * 1.1f);
for(size_t i = 0u; i < diamondIds.size(); i++)
cv::drawFrameAxes(imageCopy, camMatrix, distCoeffs, rvecs[i], tvecs[i], squareLength*1.1f);
}
//! [draw_diamond_pose_estimation]
}

imshow("out", imageCopy);
char key = (char)waitKey(waitTime);
if(key == 27) break;
}

return 0;
}
7 changes: 4 additions & 3 deletions modules/aruco/tutorials/charuco_detection/charuco_detection.markdown
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Original file line number Diff line number Diff line change
Expand Up @@ -138,8 +138,7 @@ The parameters of detectBoard are:
- `markerCorners` - input/output vector of detected marker corners.
- `markerIds` - input/output vector of identifiers of the detected markers

If markerCorners and markerIds are empty, then `cv::aruco::CharucoDetector::detectBoard()`
call `cv::aruco::ArucoDetector::detectMarkers()` and return `markerCorners` and `markerIds`.
If markerCorners and markerIds are empty, the function will detect aruco markers and ids.

If calibration parameters are provided, the ChArUco corners are interpolated by, first, estimating a rough pose from the ArUco markers
and, then, reprojecting the ChArUco corners back to the image.
Expand Down Expand Up @@ -207,7 +206,9 @@ The aruco module provides a function to perform ChArUco pose estimation easily.
of the `cv::aruco::CharucoBoard` is placed in the board plane with the Z axis pointing in, and centered in the bottom left corner of the board.

@note After OpenCV 4.6.0, there was an incompatible change in the coordinate systems of the boards,
now the coordinate systems are placed in the boards plane with the Z axis pointing in (previously the axis pointed out).
now the coordinate systems are placed in the boards plane with the Z axis pointing in the plane (previously the axis pointed out the plane).
`objPoints` in CW order correspond to the Z-axis pointing in the plane.
`objPoints` in CCW order correspond to the Z-axis pointing out the plane.
See PR https://github.com/opencv/opencv_contrib/pull/3174


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