[cam_pose_charuco_board]

- refactored

[cam_pose_charuco_diamond]
- working version

[General]
- refactored

cam_pose_charuco_board.py

@@ -5,40 +5,16 @@ import argparse
 from aruco_types import ARUCO_DICT
 import math
 
-from cam_pose_checker import draw_gizmo
+from utils import to_board_pose_euler, cap_init
 
 CAM_CALIB_FILE = "results/cam_calib_charuco.npz"
 
-def rotation_matrix_to_euler_angles(R):
+def factory(dict_type: int, board_size: cv.typing.Size, square_length: float=5.0, marker_length: float=3.0, margin_length=0):
-	sy = math.sqrt(R[0,0]**2 + R[1,0]**2)
-	singular = sy < 1e-6
-
-	if not singular:
-		x = math.atan2(R[2,1] , R[2,2])
-		y = math.atan2(-R[2,0], sy)
-		z = math.atan2(R[1,0], R[0,0])
-	else:
-		# Handle singularity
-		x = math.atan2(-R[1,2], R[1,1])
-		y = math.atan2(-R[2,0], sy)
-		z = 0
-	return np.array([x, y, z])
-
-def to_board_pose_euler(r_vec, t_vec):
-	r_mat = np.ndarray((3, 3))
-	cv.Rodrigues(r_vec, r_mat)
-	r_mat = np.hstack((r_mat, t_vec))
-	r_mat = np.vstack((r_mat, np.array([0, 0, 0, 1])))
-	r_mat = np.linalg.inv(r_mat)
-	res = rotation_matrix_to_euler_angles(r_mat)
-	return res, r_mat[:,3]
-
-def factory(dict_type: int, board_size: cv.typing.Size, square_length: float=5.0, marker_length: float=3.0):
 	aruco_dict = cv.aruco.getPredefinedDictionary(dict_type)
 	board = cv.aruco.CharucoBoard(board_size, square_length, marker_length, aruco_dict)
 	params = cv.aruco.CharucoParameters()
 	detector = cv.aruco.CharucoDetector(board, params)
-	image = board.generateImage((800, 600), None, 0, 1)
+	image = board.generateImage((800, 600), None, margin_length, 1)
 	cv.imwrite("results/charuco_board.png", image)
 
 	return detector, board
@@ -86,13 +62,7 @@ def process_video(detector: cv.aruco.CharucoDetector, board: cv.aruco.CharucoBoa
 		print("Cannot open camera")
 		exit()
 
-	cap.set(cv.CAP_PROP_SETTINGS, 1)
+	cap_init(cap)
-	cap.set(cv.CAP_PROP_FOURCC, cv.VideoWriter.fourcc('M', 'J', 'P', 'G'))
-	cap.set(cv.CAP_PROP_FPS, 60.0)
-	cap.set(cv.CAP_PROP_FRAME_WIDTH, 1280)
-	cap.set(cv.CAP_PROP_FRAME_HEIGHT, 1024)
-	cap.set(cv.CAP_PROP_EXPOSURE, 30)
-	cap.set(cv.CAP_PROP_AUTO_EXPOSURE, 1)
 
 	img_size = None
 	last_rotation = [0,0,0]
@@ -174,9 +144,9 @@ def process(detector: cv.aruco.CharucoDetector, board: cv.aruco.CharucoBoard, im
 
 		# Draw marker axis
 		if draw_marker_axis:
-			rvecs, tvecs, _ = cv.aruco.estimatePoseSingleMarkers(marker_corners, markerLength=0.062, cameraMatrix=mtx, distCoeffs=dist)
+			_rvecs, _tvecs, _ = cv.aruco.estimatePoseSingleMarkers(marker_corners, markerLength=0.062, cameraMatrix=mtx, distCoeffs=dist)
 			for i in range(len(rvecs)):
-				cv.drawFrameAxes(img, mtx, dist, rvecs[i], tvecs[i],0.05)
+				cv.drawFrameAxes(img, mtx, dist, _rvecs[i], _tvecs[i], 0.05)
 
 		if len(charuco_ids) >= len(board.getIds()):
 			obj_points, img_points = board.matchImagePoints(charuco_corners, charuco_ids)

cam_pose_charuco_diamond.py

@@ -1,16 +1,17 @@
 import sys
 import numpy as np
 import cv2 as cv
+import math
 import argparse
+from utils import to_board_pose_euler, cap_init
 from aruco_types import ARUCO_DICT
 
-def factory(dict_type: int, square_length: float=200.0, marker_length: float=120.0, margin_length=10):
+def factory(dict_type: int, square_length: float=5.0, marker_length: float=3.0, margin_length=0):
 	aruco_dict = cv.aruco.getPredefinedDictionary(dict_type)
 	board = cv.aruco.CharucoBoard((3,3), square_length, marker_length, aruco_dict)
 	params = cv.aruco.CharucoParameters()
 	detector = cv.aruco.CharucoDetector(board, params)
-	side_len = int(3.0*square_length + 2.0*margin_length)
+	image = board.generateImage((800, 600), None, margin_length, 1)
-	image = board.generateImage((side_len, side_len), None, margin_length, 1)
 	cv.imwrite("results/charuco_diamond_board.png", image)
 
 	return detector, board
@@ -38,48 +39,80 @@ def main():
 	print("[INFO] start processing...")
 	process_video(detector, board)
 
-def process_video(detector: cv.aruco.CharucoDetector, board):
+def process_video(detector: cv.aruco.CharucoDetector, board: cv.aruco.CharucoBoard):
-	with np.load('results/cam.npz') as X:
+	with np.load('results/cam_calib_charuco.npz') as X:
 		mtx, dist, _, _ = [X[i] for i in ('mtx', 'dist', 'rvecs', 'tvecs')]
 
 	# Open camera
-	video = cv.VideoCapture(0)
+	cap = cv.VideoCapture(0)
-	if not video.isOpened():
+	if not cap.isOpened():
 		print("Cannot open camera")
 		exit()
 
+	cap_init(cap)
+
+	last_rotation = [0,0,0]
 	while True:
 		# Read a new frame
-		ok, img = video.read()
+		ok, img = cap.read()
 		if not ok:
 			return
-		process(detector, board, img, mtx, dist)
 		k = cv.waitKey(1) & 0xFF
 		if k == ord('q'):
 			break
+		else:
+			r_vec, t_vec = process(detector, board, img, mtx, dist, None, None)
+			if r_vec is not None and t_vec is not None:
+				r_vec_obj, _ = to_board_pose_euler(r_vec, t_vec)
+				rot = [round(180.0 / math.pi * v, 0) for v in r_vec_obj]
+				if rot != last_rotation:
+					print("\r                                                                                 ", end='')
+					print(f"\rTilt: {rot[0]:.1f}, Roll: {rot[1]:.1f}, Azimuth: {rot[2]:.1f}", end='')
+				last_rotation = rot
 
-def process(detector: cv.aruco.CharucoDetector, board: cv.aruco.Board, img, mtx, dist):	# Load previously saved data
+		cv.imshow('img', img)
+
+def process(detector: cv.aruco.CharucoDetector, board: cv.aruco.CharucoBoard, img, mtx, dist, rvecs=None, tvecs=None, draw_marker_box=True, draw_marker_id=False, draw_marker_axis=False):	# Load previously saved data
+	use_detect_diamonds = 0
+	r_vec = None
+	t_vec = None
 	gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
-	diamond_corners, diamond_ids, marker_corners, marker_ids = detector.detectDiamonds(gray)
+	diamond_corners, diamond_ids, marker_corners, marker_ids = detector.detectBoard(gray)
 	if diamond_corners is not None:
-		# Draw a square around the markers
+		if use_detect_diamonds:
-		cv.aruco.drawDetectedCornersCharuco(img, diamond_corners, diamond_ids)
+			diamond_corners1, diamond_ids1, marker_corners1, marker_ids1 = detector.detectDiamonds(gray)
+			diamond_corners = diamond_corners1[0]
+			diamond_ids = np.transpose(diamond_ids1[0])
+			marker_corners = marker_corners1
+			marker_ids = marker_ids1[0]
 
-		# Draw a square around the markers
+		# Draw marker box
-		cv.aruco.drawDetectedMarkers(img, marker_corners)
+		if draw_marker_box:
+			cv.aruco.drawDetectedMarkers(img, marker_corners)
+
+		# Draw marker id
+		if draw_marker_id:
+			cv.aruco.drawDetectedDiamonds(img, diamond_corners, diamond_ids)
+
+		# Draw marker axis
+		if draw_marker_axis:
+			_rvecs, _tvecs, _ = cv.aruco.estimatePoseSingleMarkers(marker_corners, markerLength=0.062, cameraMatrix=mtx, distCoeffs=dist)
+			for i in range(len(_rvecs)):
+				cv.drawFrameAxes(img, mtx, dist, _rvecs[i], _tvecs[i], 0.05)
 
 		if len(diamond_ids) >= len(board.getIds()):
-			# Draw a square around the markers
+			# Estimate diamond pose
-			cv.aruco.drawDetectedDiamonds(img, diamond_corners, diamond_ids)
+			obj_points, img_points = board.matchImagePoints(diamond_corners, diamond_ids)
-			if False and diamond_ids is not None and len(diamond_ids) > 0:
+			offset = int(board.getMarkerLength() * board.getSquareLength())
-				obj_points, img_points = board.matchImagePoints(diamond_corners, diamond_ids)
+			obj_points -= [offset/2, offset/2, 0]
-				pose, rvec, tvec = cv.solvePnP(obj_points, img_points, mtx, dist, None, None)
+			if mtx is not None and dist is not None:
+				pose, r_vec, t_vec = cv.solvePnP(obj_points, img_points, mtx, dist, useExtrinsicGuess=False, rvec=rvecs,
+												 tvec=tvecs, flags=cv.SOLVEPNP_ITERATIVE)
 				if pose:
 					# Draw Axis
-					cv.drawFrameAxes(img, mtx, dist, rvec, tvec, 10)
+					cv.drawFrameAxes(img, mtx, dist, r_vec, t_vec, 10)
-
-	cv.imshow('img', img)
 
+	return r_vec, t_vec
 
 if __name__ == '__main__':
 	main()

utils.py

@@ -0,0 +1,36 @@
+import numpy as np
+import cv2 as cv
+import math
+
+def rotation_matrix_to_euler_angles(R):
+	sy = math.sqrt(R[0,0]**2 + R[1,0]**2)
+	singular = sy < 1e-6
+
+	if not singular:
+		x = math.atan2(R[2,1] , R[2,2])
+		y = math.atan2(-R[2,0], sy)
+		z = math.atan2(R[1,0], R[0,0])
+	else:
+		# Handle singularity
+		x = math.atan2(-R[1,2], R[1,1])
+		y = math.atan2(-R[2,0], sy)
+		z = 0
+	return np.array([x, y, z])
+
+def to_board_pose_euler(r_vec, t_vec):
+	r_mat = np.ndarray((3, 3))
+	cv.Rodrigues(r_vec, r_mat)
+	r_mat = np.hstack((r_mat, t_vec))
+	r_mat = np.vstack((r_mat, np.array([0, 0, 0, 1])))
+	r_mat = np.linalg.inv(r_mat)
+	res = rotation_matrix_to_euler_angles(r_mat)
+	return res, r_mat[:,3]
+
+def cap_init(cap: cv.VideoCapture):
+	cap.set(cv.CAP_PROP_SETTINGS, 1)
+	cap.set(cv.CAP_PROP_FOURCC, cv.VideoWriter.fourcc('M', 'J', 'P', 'G'))
+	cap.set(cv.CAP_PROP_FPS, 60.0)
+	cap.set(cv.CAP_PROP_FRAME_WIDTH, 1280)
+	cap.set(cv.CAP_PROP_FRAME_HEIGHT, 1024)
+	cap.set(cv.CAP_PROP_EXPOSURE, 30)
+	cap.set(cv.CAP_PROP_AUTO_EXPOSURE, 1)