MasterArbeit/libuvosunwrap
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Fix charuco algo when an image spanns the break between ends of the board

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up board size a bit
This commit is contained in:
uvos
2021-07-01 23:36:55 +02:00
parent 8b643b03d3
commit 2e3d0d2938
2 changed files with 65 additions and 6 deletions
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69
src/charuco.cpp
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@ -20,9 +20,10 @@
#include "uvosunwrap/charuco.h" #include "uvosunwrap/charuco.h"
#include <opencv2/aruco/charuco.hpp> #include <opencv2/aruco/charuco.hpp>
#include <opencv2/highgui.hpp> #include <opencv2/highgui.hpp>
#include "uvosunwrap/log.h"
static constexpr unsigned int X_BOARD_SIZE = 18; static constexpr unsigned int X_BOARD_SIZE = 20;
static constexpr unsigned int Y_BOARD_SIZE = 10; static constexpr unsigned int Y_BOARD_SIZE = 12;
void createCharucoBoard(unsigned int size, const std::string& fileName) void createCharucoBoard(unsigned int size, const std::string& fileName)
@ -30,9 +31,65 @@ void createCharucoBoard(unsigned int size, const std::string& fileName)
cv::Ptr<cv::aruco::CharucoBoard> board = cv::Ptr<cv::aruco::CharucoBoard> board =
cv::aruco::CharucoBoard::create(X_BOARD_SIZE, Y_BOARD_SIZE, 0.03f, 0.02f, cv::aruco::CharucoBoard::create(X_BOARD_SIZE, Y_BOARD_SIZE, 0.03f, 0.02f,
cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_250 )); cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_250 ));
cv::Mat charucoImage; cv::Mat charucoImage;
board->draw(cv::Size((size*18)/10, size), charucoImage, 0, 1); double cellSize = size/(double)Y_BOARD_SIZE;
cv::imwrite(fileName, charucoImage); board->draw(cv::Size((size*X_BOARD_SIZE)/Y_BOARD_SIZE, size), charucoImage, 0, 1);
cv::Mat charucoImageWithBorder =
cv::Mat::zeros(cv::Size(cellSize*(X_BOARD_SIZE+2), cellSize*(Y_BOARD_SIZE+2)), CV_8UC1);
cv::Rect roi(cellSize, cellSize, charucoImage.cols, charucoImage.rows);
charucoImage.copyTo(charucoImageWithBorder(roi));
cv::imwrite(fileName, charucoImageWithBorder);
}
static void seamAjust(std::vector<DetectedPoint>& detections)
{
int xMin = std::numeric_limits<int>::max();
int xMax = std::numeric_limits<int>::min();
for(auto& point : detections)
{
if(point.coordinate.x > xMax)
xMax = point.coordinate.x;
else if(point.coordinate.x < xMin)
xMin = point.coordinate.x;
}
if(xMax - xMin < static_cast<int>(X_BOARD_SIZE/2))
return;
Log(Log::DEBUG)<<"Image contains seam";
bool extantCol[X_BOARD_SIZE] = {0};
for(auto& point : detections)
{
if(!extantCol[point.coordinate.x])
extantCol[point.coordinate.x] = true;
}
int leftCoordinate = 0;
int maxDeadrange = 0;
int deadRange = 0;
for(unsigned int i = 0; i < X_BOARD_SIZE-1; ++i)
{
if(!extantCol[i])
{
++deadRange;
if(extantCol[i+1] && maxDeadrange < deadRange)
{
leftCoordinate = i+1;
maxDeadrange = deadRange;
deadRange = 0;
}
}
}
Log(Log::DEBUG)<<"Left coordinate before seam "<<leftCoordinate;
for(auto& point : detections)
{
if(point.coordinate.x < leftCoordinate)
point.coordinate.x = point.coordinate.x + X_BOARD_SIZE;
}
} }
std::vector<DetectedPoint> detectCharucoPoints(cv::Mat image, bool verbose) std::vector<DetectedPoint> detectCharucoPoints(cv::Mat image, bool verbose)
@ -86,6 +143,8 @@ std::vector<DetectedPoint> detectCharucoPoints(cv::Mat image, bool verbose)
detections.push_back(DetectedPoint(charucoCorners[i], coordiante)); detections.push_back(DetectedPoint(charucoCorners[i], coordiante));
} }
seamAjust(detections);
return detections; return detections;
} }
return std::vector<DetectedPoint>(); return std::vector<DetectedPoint>();

2
src/main.cpp
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@ -143,7 +143,7 @@ int perfromOperation(int operation, char** fileNames, const Config& config)
if(operation == CREATE_CHARUCO) if(operation == CREATE_CHARUCO)
{ {
std::string fileName = config.output.empty() ? "out.png" : config.output; std::string fileName = config.output.empty() ? "out.png" : config.output;
createCharucoBoard(config.size*14, fileName); createCharucoBoard(config.size*42, fileName);
Log(Log::INFO)<<"Exported charuco map of size "<<config.size*14<<" to "<<fileName; Log(Log::INFO)<<"Exported charuco map of size "<<config.size*14<<" to "<<fileName;
return 0; return 0;
} }