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Added support for double-sided Charuco board #19

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fe71d44
Added support for double-sided Charuco board. Assumes that aruco Ids …
jbonaiuto Apr 22, 2023
816f942
Merge remote-tracking branch 'origin/master'
jbonaiuto Apr 22, 2023
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93 changes: 77 additions & 16 deletions src/calibrationtool/extrinsicscalibrator.cpp
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -41,16 +41,27 @@ ExtrinsicsCalibrator::ExtrinsicsCalibrator(CalibrationConfig *calibrationConfig,
m_parametersSavePath = (m_calibrationConfig->calibrationSetPath + "/" +
m_calibrationConfig->calibrationSetName).toStdString();

m_charucoPattern = cv::Mat(cv::Size( m_calibrationConfig->patternWidth+1,
m_charucoPattern1 = cv::Mat(cv::Size( m_calibrationConfig->patternWidth+1,
m_calibrationConfig->patternHeight+1), CV_32SC1);
m_charucoPattern2 = cv::Mat(cv::Size( m_calibrationConfig->patternWidth+1,
m_calibrationConfig->patternHeight+1), CV_32SC1);
m_detectedPattern = cv::Mat(cv::Size( m_calibrationConfig->patternWidth+1,
m_calibrationConfig->patternHeight+1), CV_32SC1);
m_charucoPattern = -1;
m_charucoPattern1 = -1;
m_charucoPattern2 = -1;
int id_count = 0;
for (int i = 0; i < m_calibrationConfig->patternWidth+1; i++) {
for (int j = 0; j < m_calibrationConfig->patternHeight+1; j++) {
if ((i+j)%2 != 0) {
m_charucoPattern.at<int>(j,i) = id_count;
m_charucoPattern1.at<int>(j,i) = id_count;
id_count++;
}
}
}
for (int i = 0; i < m_calibrationConfig->patternWidth+1; i++) {
for (int j = 0; j < m_calibrationConfig->patternHeight+1; j++) {
if ((i+j)%2 != 0) {
m_charucoPattern2.at<int>(j,i) = id_count;
id_count++;
}
}
Expand Down Expand Up @@ -315,6 +326,12 @@ bool ExtrinsicsCalibrator::calibrateExtrinsicsPair(QList<QString> cameraPair,
}


int reverse_column_index(int num_cols, int index) {
int row = index / num_cols;
int col = index % num_cols;
return row * num_cols + (num_cols - 1 - col);
}

bool ExtrinsicsCalibrator::calibrateExtrinsicsPairCharuco(QList<QString> cameraPair,
Extrinsics &e, double &mean_repro_error) {

Expand All @@ -330,11 +347,12 @@ bool ExtrinsicsCalibrator::calibrateExtrinsicsPairCharuco(QList<QString> cameraP
dictionary = cv::aruco::getPredefinedDictionary(m_calibrationConfig->charucoPatternIdx);
}

cv::Ptr<cv::aruco::CharucoBoard> board =
cv::aruco::CharucoBoard::create(m_calibrationConfig->patternWidth,
m_calibrationConfig->patternHeight, 0.04f, 0.02f, dictionary);
cv::Ptr<cv::aruco::DetectorParameters> charucoParams =
cv::aruco::DetectorParameters::create();
cv::Ptr<cv::aruco::CharucoBoard> boardFront = cv::aruco::CharucoBoard::create(m_calibrationConfig->patternWidth, m_calibrationConfig->patternHeight, 0.04f, 0.02f, dictionary);
cv::Ptr<cv::aruco::CharucoBoard> boardBack = cv::aruco::CharucoBoard::create(m_calibrationConfig->patternWidth, m_calibrationConfig->patternHeight, 0.04f, 0.02f, dictionary);
for(int i=0; i<boardBack->ids.size(); i++) {
boardBack->ids[i] += boardFront->ids.size();
}
cv::Ptr<cv::aruco::DetectorParameters> charucoParams = cv::aruco::DetectorParameters::create();

std::vector<cv::Point3f> checkerBoardPoints;
for (int i = 0; i < m_calibrationConfig->patternHeight-1; i++)
Expand Down Expand Up @@ -371,6 +389,9 @@ bool ExtrinsicsCalibrator::calibrateExtrinsicsPairCharuco(QList<QString> cameraP
std::vector<std::vector<cv::Point3f>> objectPointsAll, objectPoints;
std::vector<std::vector<cv::Point2f>> imagePointsAll1, imagePointsAll2,
imagePoints1, imagePoints2;

cv::Ptr<cv::aruco::CharucoBoard> detected_board1;
cv::Ptr<cv::aruco::CharucoBoard> detected_board2;
cv::Size size;
int iteration = 0;
int skipIndex;
Expand Down Expand Up @@ -426,21 +447,41 @@ bool ExtrinsicsCalibrator::calibrateExtrinsicsPairCharuco(QList<QString> cameraP
std::vector<std::vector<cv::Point2f>> markerCorners1, markerCorners2;
std::vector<cv::Point2f> charucoCorners1, charucoCorners2;
std::vector<int> charucoIds1,charucoIds2;
cv::aruco::detectMarkers(img1, board->dictionary, markerCorners1, markerIds1, charucoParams);
cv::aruco::detectMarkers(img1, boardFront->dictionary, markerCorners1, markerIds1, charucoParams);
if (markerIds1.size() > 0 && markerIds1[0]<boardFront->ids.size()) {
detected_board1 = boardFront;
} else {
detected_board1 = boardBack;
}
if (markerIds1.size() > 5) {
cv::aruco::interpolateCornersCharuco(markerCorners1, markerIds1, img1, board, charucoCorners1, charucoIds1);
cv::aruco::interpolateCornersCharuco(markerCorners1, markerIds1, img1, detected_board1, charucoCorners1, charucoIds1);
if (charucoIds1.size() > m_calibrationConfig->patternHeight - 1 &&
charucoIds1.size() > m_calibrationConfig->patternWidth - 1) {
cv::Scalar color = cv::Scalar(255, 0, 0);
patternFound1 = true;
if (detected_board1->ids[0]>0) {
for(int i=0; i<charucoIds1.size(); i++) {
charucoIds1[i] = reverse_column_index((m_calibrationConfig->patternWidth)-1, charucoIds1[i]);
}
}
}
}
cv::aruco::detectMarkers(img2, board->dictionary, markerCorners2, markerIds2, charucoParams);
cv::aruco::detectMarkers(img2, boardFront->dictionary, markerCorners2, markerIds2, charucoParams);
if (markerIds2.size() > 0 && markerIds2[0]<boardFront->ids.size()) {
detected_board2 = boardFront;
} else {
detected_board2 = boardBack;
}
if (markerIds2.size() > 5) {
cv::aruco::interpolateCornersCharuco(markerCorners2, markerIds2, img2, board, charucoCorners2, charucoIds2);
cv::aruco::interpolateCornersCharuco(markerCorners2, markerIds2, img2, detected_board2, charucoCorners2, charucoIds2);
if (charucoIds2.size() > m_calibrationConfig->patternHeight - 1 &&
charucoIds2.size() > m_calibrationConfig->patternWidth - 1) {
patternFound2 = true;
if (detected_board2->ids[0]>0) {
for(int i=0; i<charucoIds2.size(); i++) {
charucoIds2[i] = reverse_column_index((m_calibrationConfig->patternWidth)-1, charucoIds2[i]);
}
}
}
}
if (patternFound1 && patternFound2) {
Expand Down Expand Up @@ -666,21 +707,41 @@ bool ExtrinsicsCalibrator::checkRotation(std::vector< cv::Point2f> &corners1,
int ExtrinsicsCalibrator::matchPattern() {
int unrotCount = 0;
int rotCount = 0;
int nMatched = 0;
for (int i = 0; i < m_calibrationConfig->patternWidth+1; i++) {
for (int j = 0; j < m_calibrationConfig->patternHeight+1; j++) {
if (m_charucoPattern.at<int>(j,i) != -1) {
if (m_charucoPattern.at<int>(j,i) == m_detectedPattern.at<int>(j,i) ||
m_charucoPattern.at<int>(j,i) == m_detectedPattern.at<int>(j,i)) {
if (m_charucoPattern1.at<int>(j,i) != -1) {
if (m_charucoPattern1.at<int>(j,i) == m_detectedPattern.at<int>(j,i)) {
unrotCount++;
nMatched++;
}
if ((m_charucoPattern.at<int>(j,i) == m_detectedPattern.at<int>(
if ((m_charucoPattern1.at<int>(j,i) == m_detectedPattern.at<int>(
m_calibrationConfig->patternHeight-j,
m_calibrationConfig->patternWidth-i))) {
rotCount++;
nMatched++;
}
}
}
}
if (nMatched == 0) {
for (int i = 0; i < m_calibrationConfig->patternWidth+1; i++) {
for (int j = 0; j < m_calibrationConfig->patternHeight+1; j++) {
if (m_charucoPattern2.at<int>(j,i) != -1) {
if (m_charucoPattern2.at<int>(j,i) == m_detectedPattern.at<int>(j,i)) {
unrotCount++;
nMatched++;
}
if ((m_charucoPattern2.at<int>(j,i) == m_detectedPattern.at<int>(
m_calibrationConfig->patternHeight-j,
m_calibrationConfig->patternWidth-i))) {
rotCount++;
nMatched++;
}
}
}
}
}
if (unrotCount == rotCount) {
return 0;
}
Expand Down
3 changes: 2 additions & 1 deletion src/calibrationtool/extrinsicscalibrator.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,7 +59,8 @@ class ExtrinsicsCalibrator : public QObject, public QRunnable {
cv::Mat F;
};

cv::Mat m_charucoPattern;
cv::Mat m_charucoPattern1;
cv::Mat m_charucoPattern2;
cv::Mat m_detectedPattern;

std::vector<cv::Point3f> m_checkerBoardPoints;
Expand Down
99 changes: 73 additions & 26 deletions src/calibrationtool/intrinsicscalibrator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,16 +33,27 @@ IntrinsicsCalibrator::IntrinsicsCalibrator(CalibrationConfig *calibrationConfig,
m_parametersSavePath = (m_calibrationConfig->calibrationSetPath + "/" +
m_calibrationConfig->calibrationSetName).toStdString();

m_charucoPattern = cv::Mat(cv::Size( m_calibrationConfig->patternWidth+1,
m_charucoPattern1 = cv::Mat(cv::Size( m_calibrationConfig->patternWidth+1,
m_calibrationConfig->patternHeight+1), CV_32SC1);
m_charucoPattern2 = cv::Mat(cv::Size( m_calibrationConfig->patternWidth+1,
m_calibrationConfig->patternHeight+1), CV_32SC1);
m_detectedPattern = cv::Mat(cv::Size( m_calibrationConfig->patternWidth+1,
m_calibrationConfig->patternHeight+1), CV_32SC1);
m_charucoPattern = -1;
m_charucoPattern1 = -1;
m_charucoPattern2 = -1;
int id_count = 0;
for (int i = 0; i < m_calibrationConfig->patternWidth+1; i++) {
for (int j = 0; j < m_calibrationConfig->patternHeight+1; j++) {
if ((i+j)%2 != 0) {
m_charucoPattern.at<int>(j,i) = id_count;
m_charucoPattern1.at<int>(j,i) = id_count;
id_count++;
}
}
}
for (int i = 0; i < m_calibrationConfig->patternWidth+1; i++) {
for (int j = 0; j < m_calibrationConfig->patternHeight+1; j++) {
if ((i+j)%2 != 0) {
m_charucoPattern2.at<int>(j,i) = id_count;
id_count++;
}
}
Expand Down Expand Up @@ -244,25 +255,35 @@ void IntrinsicsCalibrator::run_charuco() {
dictionary = cv::aruco::getPredefinedDictionary(m_calibrationConfig->charucoPatternIdx);
}

cv::Ptr<cv::aruco::CharucoBoard> board =
cv::aruco::CharucoBoard::create(m_calibrationConfig->patternWidth,
m_calibrationConfig->patternHeight, m_calibrationConfig->patternSideLength,
m_calibrationConfig->markerSideLength, dictionary);
cv::Ptr<cv::aruco::DetectorParameters> charucoParams =
cv::aruco::DetectorParameters::create();
cv::Ptr<cv::aruco::CharucoBoard> boardFront = cv::aruco::CharucoBoard::create(m_calibrationConfig->patternWidth,
m_calibrationConfig->patternHeight,
m_calibrationConfig->patternSideLength,
m_calibrationConfig->markerSideLength, dictionary);

cv::Ptr<cv::aruco::CharucoBoard> boardBack = cv::aruco::CharucoBoard::create(m_calibrationConfig->patternWidth,
m_calibrationConfig->patternHeight,
m_calibrationConfig->patternSideLength,
m_calibrationConfig->markerSideLength, dictionary);

for(int i=0; i<boardBack->ids.size(); i++) {
boardBack->ids[i] += boardFront->ids.size();
}
cv::Ptr<cv::aruco::DetectorParameters> charucoParams = cv::aruco::DetectorParameters::create();

cv::Mat imageCopy;
if (m_calibrationConfig->debug) {
cv::Mat boardImage;
board->draw(cv::Size(600, 500), boardImage, 10, 1);
cv::imwrite(m_parametersSavePath + "/debug/BoardPreview.jpg", boardImage);
boardFront->draw(cv::Size(600, 500), boardImage, 10, 1);
cv::imwrite(m_parametersSavePath + "/debug/BoardPreviewFront.jpg", boardImage);
boardBack->draw(cv::Size(600, 500), boardImage, 10, 1);
cv::imwrite(m_parametersSavePath + "/debug/BoardPreviewBack.jpg", boardImage);
}

std::vector<std::vector<int>> charucoIdsAll, charucoIds;
std::vector<std::vector<cv::Point2f>> charucoCornersAll, charucoCorners;
cv::Ptr<cv::aruco::CharucoBoard> detected_board;


while (charucoIdsAll.size() < m_calibrationConfig->framesForIntrinsics) {
while (charucoIdsAll.size() < m_calibrationConfig->framesForIntrinsics) {
cv::VideoCapture cap(m_calibrationConfig->intrinsicsPath.toStdString() + "/" +
m_cameraName + "." + format.toStdString());
int frameCount = cap.get(cv::CAP_PROP_FRAME_COUNT);
Expand Down Expand Up @@ -299,14 +320,21 @@ void IntrinsicsCalibrator::run_charuco() {
size = img.size();
int frameIndex = cap.get(cv::CAP_PROP_POS_FRAMES);
cap.set(cv::CAP_PROP_POS_FRAMES, frameIndex+skipIndex);
if (frameIndex > frameCount) read_success = false;
std::vector<int> markerIds;
std::vector<std::vector<cv::Point2f>> markerCorners;
cv::aruco::detectMarkers(img, board->dictionary, markerCorners, markerIds, charucoParams);
if (markerIds.size() > 5) {
if (frameIndex > frameCount) {
read_success = false;
}
std::vector<int> markerIds;
std::vector<std::vector<cv::Point2f>> markerCorners;
cv::aruco::detectMarkers(img, boardFront->dictionary, markerCorners, markerIds, charucoParams);
if (markerIds.size() > 0 && markerIds[0]<35) {
detected_board = boardFront;
} else {
detected_board = boardBack;
}
if (markerIds.size() > 5) {
std::vector<cv::Point2f> charucoCorners;
std::vector<int> charucoIds;
cv::aruco::interpolateCornersCharuco(markerCorners, markerIds, img, board, charucoCorners, charucoIds);
cv::aruco::interpolateCornersCharuco(markerCorners, markerIds, img, detected_board, charucoCorners, charucoIds);
if (charucoIds.size() > m_calibrationConfig->patternHeight-1 &&
charucoIds.size() > m_calibrationConfig->patternWidth-1) {
charucoCornersAll.push_back(charucoCorners);
Expand Down Expand Up @@ -356,14 +384,14 @@ void IntrinsicsCalibrator::run_charuco() {
charucoCorners.size() << std::endl;

double mean_repro_error = intrinsicsCalibrationStepCharuco(charucoCorners, charucoIds,
board, size, 1.25);
detected_board, size, 1.25);
std::cout << m_cameraName << ": Mean Reprojection Error after Stage 1: " <<
mean_repro_error << std::endl;
std::cout << "Number Images for Stage 2: " <<
charucoCorners.size() << std::endl;

mean_repro_error = intrinsicsCalibrationStepCharuco(charucoCorners, charucoIds,
board, size, 1.5);
detected_board, size, 1.5);
std::cout << m_cameraName << ": Mean Reprojection Error after Stage 2: "
<< mean_repro_error << std::endl;
std::cout << m_cameraName << ": Number Images for Stage 3: "
Expand All @@ -373,7 +401,7 @@ void IntrinsicsCalibrator::run_charuco() {
std::vector< cv::Mat > rvecs, tvecs;
cv::Mat stdDI, stdDE, errs;
double repro_error = cv::aruco::calibrateCameraCharuco(charucoCorners,
charucoIds, board, size, K,
charucoIds, detected_board, size, K,
D, rvecs, tvecs, stdDI, stdDE, errs,
cv::CALIB_FIX_K3 | cv::CALIB_ZERO_TANGENT_DIST | cv::CALIB_SAME_FOCAL_LENGTH,
cv::TermCriteria(cv::TermCriteria::MAX_ITER |
Expand Down Expand Up @@ -499,21 +527,40 @@ bool IntrinsicsCalibrator::checkRotation(std::vector< cv::Point2f> &corners1,
int IntrinsicsCalibrator::matchPattern() {
int unrotCount = 0;
int rotCount = 0;
int nMatched = 0;
for (int i = 0; i < m_calibrationConfig->patternWidth+1; i++) {
for (int j = 0; j < m_calibrationConfig->patternHeight+1; j++) {
if (m_charucoPattern1.at<int>(j,i) != -1) {
if (m_charucoPattern1.at<int>(j,i) == m_detectedPattern.at<int>(j,i)) {
unrotCount++;
nMatched++;
}
if ((m_charucoPattern1.at<int>(j,i) ==
m_detectedPattern.at<int>(m_calibrationConfig->patternHeight-j,
m_calibrationConfig->patternWidth-i))) {
rotCount++;
nMatched++;

}
}
}
}
if (nMatched==0) {
for (int i = 0; i < m_calibrationConfig->patternWidth+1; i++) {
for (int j = 0; j < m_calibrationConfig->patternHeight+1; j++) {
if (m_charucoPattern.at<int>(j,i) != -1) {
if (m_charucoPattern.at<int>(j,i) == m_detectedPattern.at<int>(j,i) ||
m_charucoPattern.at<int>(j,i) == m_detectedPattern.at<int>(j,i)) {
if (m_charucoPattern2.at<int>(j,i) != -1) {
if (m_charucoPattern2.at<int>(j,i) == m_detectedPattern.at<int>(j,i)) {
unrotCount++;
}
if ((m_charucoPattern.at<int>(j,i) ==
if ((m_charucoPattern2.at<int>(j,i) ==
m_detectedPattern.at<int>(m_calibrationConfig->patternHeight-j,
m_calibrationConfig->patternWidth-i))) {
rotCount++;
}
}
}
}
}
if (unrotCount == rotCount) {
return 0;
}
Expand Down
3 changes: 2 additions & 1 deletion src/calibrationtool/intrinsicscalibrator.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,8 @@ class IntrinsicsCalibrator : public QObject, public QRunnable {
cv::Mat D;
};

cv::Mat m_charucoPattern;
cv::Mat m_charucoPattern1;
cv::Mat m_charucoPattern2;
cv::Mat m_detectedPattern;

std::vector<cv::Point3f> m_checkerBoardPoints;
Expand Down