HQU-gxy/ChArUcoBoardExp
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crosstyan
2024-11-21 19:01:28 +08:00
parent 4a8bd957d2
commit 4ad22811d9
1 changed files with 38 additions and 13 deletions
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test.py
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@ -1,4 +1,5 @@
import cv2 import cv2
import numpy as np
from cv2 import aruco from cv2 import aruco
from cv2.typing import MatLike from cv2.typing import MatLike
from enum import Enum from enum import Enum
@ -7,6 +8,7 @@ from loguru import logger
from itertools import chain from itertools import chain
from matplotlib.pyplot import stem from matplotlib.pyplot import stem
from numpy import ndarray
class ArucoDictionary(Enum): class ArucoDictionary(Enum):
@ -37,15 +39,29 @@ IMAGE_FOLDER = Path("xx")
OUTPUT_FOLDER = Path("output") OUTPUT_FOLDER = Path("output")
DICTIONARY = ArucoDictionary.Dict_4X4_50 DICTIONARY = ArucoDictionary.Dict_4X4_50
def main(): def main():
OUTPUT_FOLDER.mkdir(exist_ok=True) OUTPUT_FOLDER.mkdir(exist_ok=True)
images = chain(IMAGE_FOLDER.glob("*.jpeg"), IMAGE_FOLDER.glob("*.png"), IMAGE_FOLDER.glob("*.jpg")) images = chain(
for img_path in images: IMAGE_FOLDER.glob("*.jpeg"),
img = cv2.imread(str(img_path)) IMAGE_FOLDER.glob("*.png"),
# 10x7 IMAGE_FOLDER.glob("*.jpg"),
# minus 1 when dealing with normal chessboard )
border_num_x = 10 border_num_x = 10
border_num_y = 7 border_num_y = 7
dictionary = aruco.getPredefinedDictionary(DICTIONARY.value)
board = aruco.CharucoBoard((border_num_x, border_num_y), 0.115, 0.09, dictionary)
detector = aruco.CharucoDetector(board)
all_ch_corners: list[MatLike] = []
all_ch_ids: list[MatLike] = []
all_image_points: list[MatLike] = []
all_object_points: list[MatLike] = []
last_shape = np.array((0, 0))
for img_path in images:
img = cv2.imread(str(img_path))
last_shape = img.shape
# 10x7
# minus 1 when dealing with normal chessboard
# 115mm square # 115mm square
# 90mm marker # 90mm marker
# https://docs.opencv.org/3.4/df/d4a/tutorial_charuco_detection.html # https://docs.opencv.org/3.4/df/d4a/tutorial_charuco_detection.html
@ -56,19 +72,16 @@ def main():
# https://docs.opencv.org/4.x/d9/d0c/group__calib3d.html#ga93efa9b0aa890de240ca32b11253dd4a # https://docs.opencv.org/4.x/d9/d0c/group__calib3d.html#ga93efa9b0aa890de240ca32b11253dd4a
# https://github.com/opencv/opencv/issues/22083 # https://github.com/opencv/opencv/issues/22083
# OpenCV 4.10.x # OpenCV 4.10.x
dictionary = aruco.getPredefinedDictionary(DICTIONARY.value)
board = aruco.CharucoBoard(
(border_num_x, border_num_y), 0.115, 0.09, dictionary
)
detector = aruco.CharucoDetector(board)
ch_corners, ch_ids, markers_corners, marker_ids = detector.detectBoard(img) ch_corners, ch_ids, markers_corners, marker_ids = detector.detectBoard(img)
# https://docs.opencv.org/4.10.0/d9/df5/classcv_1_1aruco_1_1CharucoDetector.html # https://docs.opencv.org/4.10.0/d9/df5/classcv_1_1aruco_1_1CharucoDetector.html
if ch_corners is not None: if ch_corners is not None:
# https://docs.opencv.org/4.x/d4/db2/classcv_1_1aruco_1_1Board.html # https://docs.opencv.org/4.x/d4/db2/classcv_1_1aruco_1_1Board.html
aruco.drawDetectedCornersCharuco( aruco.drawDetectedCornersCharuco(img, ch_corners, ch_ids, (0, 255, 0))
img, ch_corners, ch_ids, (0, 255, 0) all_ch_corners.append(ch_corners)
) all_ch_ids.append(ch_ids)
op, ip = board.matchImagePoints(ch_corners, ch_ids) # type: ignore
all_object_points.append(op)
all_image_points.append(ip)
else: else:
logger.warning(f"Failed to detect Charuco board in {img_path}") logger.warning(f"Failed to detect Charuco board in {img_path}")
continue continue
@ -77,6 +90,18 @@ def main():
output_path = OUTPUT_FOLDER / (f"{img_path.stem}_output.jpg") output_path = OUTPUT_FOLDER / (f"{img_path.stem}_output.jpg")
logger.info(f"Saving to {output_path}") logger.info(f"Saving to {output_path}")
cv2.imwrite(str(output_path), img) cv2.imwrite(str(output_path), img)
if len(all_image_points) > 0:
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(
all_object_points, all_image_points, last_shape[::-1], None, None
) # type: ignore
logger.info(f"Camera matrix: {mtx}")
logger.info(f"Distortion coefficients: {dist}")
logger.info(f"Rotation vectors: {rvecs}")
logger.info(f"Translation vectors: {tvecs}")
np.save("camera_matrix.npy", mtx)
else:
logger.warning("No Charuco board detected in any image")
if __name__ == "__main__": if __name__ == "__main__":
main() main()