How to calibrate camera using Aruco in Android?
0
I want to calibrate my Android device camera using Aruco.
This is the calibration image.
After calibration, this is what i get.
This is the parameter for creating the gridboard.
GridBoard.create(6, 8, 100f, 10f, Aruco.getPredefinedDictionary(Aruco.DICT_6X6_1000);
This is how I process the collection of images for calibration.
List<Mat> cCorners = new ArrayList<>();
MatOfInt cIds = new MatOfInt();
DetectorParameters cParameters = DetectorParameters.create();
List<Mat> cRejectedImgPoints = new ArrayList<>();
Aruco.detectMarkers(image, Aruco.getPredefinedDictionary(Aruco.DICT_6X6_1000), cCorners, cIds, cParameters, cRejectedImgPoints);
Aruco.refineDetectedMarkers(image, board, cCorners, cIds, cRejectedImgPoints);
markerCounterPerFrame.push_back(new MatOfInt(cCorners.size()));
allCornersConcatenated.addAll(cCorners);
allIdsConcatenated.push_back(cIds);
Once I have captured multiple images for calibration, here is how I do the actual calibration.
cameraMatrix = new Mat();
distCoeffs = new Mat();
Vector<Mat> rvecs = new Vector<>();
Vector<Mat> tvecs = new Vector<>();
double calibrationError;
calibrationError = Aruco.calibrateCameraAruco(allCornersConcatenated, allIdsConcatenated, markerCounterPerFrame,
board, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs);
Once I have cameraMatrix and distCoeffs values, this is how I render.
Mat mRgba = inputFrame.rgba();
Mat image = new Mat();
Imgproc.cvtColor(mRgba, image, 1);
List<Mat> corners = new ArrayList<>();
MatOfInt ids = new MatOfInt();
DetectorParameters parameters = DetectorParameters.create();
List<Mat> rejectedImgPoints = new ArrayList<>();
Aruco.detectMarkers(image, markerDictionary, corners, ids, parameters, rejectedImgPoints);
if (corners.size() > 0)
{
Aruco.drawDetectedMarkers(image, corners, ids);
Mat rvecs = new Mat();
Mat tvecs = new Mat();
Aruco.estimatePoseSingleMarkers(corners, 100f, cameraMatrix, distCoeffs, rvecs, tvecs);
for (int i = 0; i<ids.toArray().length; i++)
{
Aruco.drawAxis(image, cameraMatrix, distCoeffs, rvecs.row(i), tvecs.row(i), markerLength * 0.5f);
}
}
Questions.
- Anything can be improved based on my code?
- What is the correct markerLength and markerSeparator values? I use markerLength = 100f and markerSeparator 10f. How to you know the correct values for markerLength and markerSeparator?
android opencv augmented-reality aruco asked Nov 26 '18 at 11:58
Syaiful Nizam YahyaSyaiful Nizam Yahya
1,786103454
add a comment |
0
I want to calibrate my Android device camera using Aruco.
This is the calibration image.
After calibration, this is what i get.
This is the parameter for creating the gridboard.
GridBoard.create(6, 8, 100f, 10f, Aruco.getPredefinedDictionary(Aruco.DICT_6X6_1000);
This is how I process the collection of images for calibration.
List<Mat> cCorners = new ArrayList<>();
MatOfInt cIds = new MatOfInt();
DetectorParameters cParameters = DetectorParameters.create();
List<Mat> cRejectedImgPoints = new ArrayList<>();
Aruco.detectMarkers(image, Aruco.getPredefinedDictionary(Aruco.DICT_6X6_1000), cCorners, cIds, cParameters, cRejectedImgPoints);
Aruco.refineDetectedMarkers(image, board, cCorners, cIds, cRejectedImgPoints);
markerCounterPerFrame.push_back(new MatOfInt(cCorners.size()));
allCornersConcatenated.addAll(cCorners);
allIdsConcatenated.push_back(cIds);
Once I have captured multiple images for calibration, here is how I do the actual calibration.
cameraMatrix = new Mat();
distCoeffs = new Mat();
Vector<Mat> rvecs = new Vector<>();
Vector<Mat> tvecs = new Vector<>();
double calibrationError;
calibrationError = Aruco.calibrateCameraAruco(allCornersConcatenated, allIdsConcatenated, markerCounterPerFrame,
board, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs);
Once I have cameraMatrix and distCoeffs values, this is how I render.
Mat mRgba = inputFrame.rgba();
Mat image = new Mat();
Imgproc.cvtColor(mRgba, image, 1);
List<Mat> corners = new ArrayList<>();
MatOfInt ids = new MatOfInt();
DetectorParameters parameters = DetectorParameters.create();
List<Mat> rejectedImgPoints = new ArrayList<>();
Aruco.detectMarkers(image, markerDictionary, corners, ids, parameters, rejectedImgPoints);
if (corners.size() > 0)
{
Aruco.drawDetectedMarkers(image, corners, ids);
Mat rvecs = new Mat();
Mat tvecs = new Mat();
Aruco.estimatePoseSingleMarkers(corners, 100f, cameraMatrix, distCoeffs, rvecs, tvecs);
for (int i = 0; i<ids.toArray().length; i++)
{
Aruco.drawAxis(image, cameraMatrix, distCoeffs, rvecs.row(i), tvecs.row(i), markerLength * 0.5f);
}
}
Questions.
- Anything can be improved based on my code?
- What is the correct markerLength and markerSeparator values? I use markerLength = 100f and markerSeparator 10f. How to you know the correct values for markerLength and markerSeparator?
android opencv augmented-reality aruco asked Nov 26 '18 at 11:58
Syaiful Nizam YahyaSyaiful Nizam Yahya
1,786103454
add a comment |
0
0
0
I want to calibrate my Android device camera using Aruco.
This is the calibration image.
After calibration, this is what i get.
This is the parameter for creating the gridboard.
GridBoard.create(6, 8, 100f, 10f, Aruco.getPredefinedDictionary(Aruco.DICT_6X6_1000);
This is how I process the collection of images for calibration.
List<Mat> cCorners = new ArrayList<>();
MatOfInt cIds = new MatOfInt();
DetectorParameters cParameters = DetectorParameters.create();
List<Mat> cRejectedImgPoints = new ArrayList<>();
Aruco.detectMarkers(image, Aruco.getPredefinedDictionary(Aruco.DICT_6X6_1000), cCorners, cIds, cParameters, cRejectedImgPoints);
Aruco.refineDetectedMarkers(image, board, cCorners, cIds, cRejectedImgPoints);
markerCounterPerFrame.push_back(new MatOfInt(cCorners.size()));
allCornersConcatenated.addAll(cCorners);
allIdsConcatenated.push_back(cIds);
Once I have captured multiple images for calibration, here is how I do the actual calibration.
cameraMatrix = new Mat();
distCoeffs = new Mat();
Vector<Mat> rvecs = new Vector<>();
Vector<Mat> tvecs = new Vector<>();
double calibrationError;
calibrationError = Aruco.calibrateCameraAruco(allCornersConcatenated, allIdsConcatenated, markerCounterPerFrame,
board, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs);
Once I have cameraMatrix and distCoeffs values, this is how I render.
Mat mRgba = inputFrame.rgba();
Mat image = new Mat();
Imgproc.cvtColor(mRgba, image, 1);
List<Mat> corners = new ArrayList<>();
MatOfInt ids = new MatOfInt();
DetectorParameters parameters = DetectorParameters.create();
List<Mat> rejectedImgPoints = new ArrayList<>();
Aruco.detectMarkers(image, markerDictionary, corners, ids, parameters, rejectedImgPoints);
if (corners.size() > 0)
{
Aruco.drawDetectedMarkers(image, corners, ids);
Mat rvecs = new Mat();
Mat tvecs = new Mat();
Aruco.estimatePoseSingleMarkers(corners, 100f, cameraMatrix, distCoeffs, rvecs, tvecs);
for (int i = 0; i<ids.toArray().length; i++)
{
Aruco.drawAxis(image, cameraMatrix, distCoeffs, rvecs.row(i), tvecs.row(i), markerLength * 0.5f);
}
}
Questions.
- Anything can be improved based on my code?
- What is the correct markerLength and markerSeparator values? I use markerLength = 100f and markerSeparator 10f. How to you know the correct values for markerLength and markerSeparator?
android opencv augmented-reality aruco asked Nov 26 '18 at 11:58
Syaiful Nizam YahyaSyaiful Nizam Yahya
1,786103454
I want to calibrate my Android device camera using Aruco.
This is the calibration image.
After calibration, this is what i get.
This is the parameter for creating the gridboard.
GridBoard.create(6, 8, 100f, 10f, Aruco.getPredefinedDictionary(Aruco.DICT_6X6_1000);
This is how I process the collection of images for calibration.
List<Mat> cCorners = new ArrayList<>();
MatOfInt cIds = new MatOfInt();
DetectorParameters cParameters = DetectorParameters.create();
List<Mat> cRejectedImgPoints = new ArrayList<>();
Aruco.detectMarkers(image, Aruco.getPredefinedDictionary(Aruco.DICT_6X6_1000), cCorners, cIds, cParameters, cRejectedImgPoints);
Aruco.refineDetectedMarkers(image, board, cCorners, cIds, cRejectedImgPoints);
markerCounterPerFrame.push_back(new MatOfInt(cCorners.size()));
allCornersConcatenated.addAll(cCorners);
allIdsConcatenated.push_back(cIds);
Once I have captured multiple images for calibration, here is how I do the actual calibration.
cameraMatrix = new Mat();
distCoeffs = new Mat();
Vector<Mat> rvecs = new Vector<>();
Vector<Mat> tvecs = new Vector<>();
double calibrationError;
calibrationError = Aruco.calibrateCameraAruco(allCornersConcatenated, allIdsConcatenated, markerCounterPerFrame,
board, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs);
Once I have cameraMatrix and distCoeffs values, this is how I render.
Mat mRgba = inputFrame.rgba();
Mat image = new Mat();
Imgproc.cvtColor(mRgba, image, 1);
List<Mat> corners = new ArrayList<>();
MatOfInt ids = new MatOfInt();
DetectorParameters parameters = DetectorParameters.create();
List<Mat> rejectedImgPoints = new ArrayList<>();
Aruco.detectMarkers(image, markerDictionary, corners, ids, parameters, rejectedImgPoints);
if (corners.size() > 0)
{
Aruco.drawDetectedMarkers(image, corners, ids);
Mat rvecs = new Mat();
Mat tvecs = new Mat();
Aruco.estimatePoseSingleMarkers(corners, 100f, cameraMatrix, distCoeffs, rvecs, tvecs);
for (int i = 0; i<ids.toArray().length; i++)
{
Aruco.drawAxis(image, cameraMatrix, distCoeffs, rvecs.row(i), tvecs.row(i), markerLength * 0.5f);
}
}
Questions.
- Anything can be improved based on my code?
- What is the correct markerLength and markerSeparator values? I use markerLength = 100f and markerSeparator 10f. How to you know the correct values for markerLength and markerSeparator?
android opencv augmented-reality aruco android opencv augmented-reality aruco asked Nov 26 '18 at 11:58
Syaiful Nizam YahyaSyaiful Nizam Yahya
1,786103454
asked Nov 26 '18 at 11:58
Syaiful Nizam YahyaSyaiful Nizam Yahya
1,786103454
asked Nov 26 '18 at 11:58
Syaiful Nizam YahyaSyaiful Nizam Yahya
1,786103454
asked Nov 26 '18 at 11:58
Syaiful Nizam YahyaSyaiful Nizam Yahya
1,786103454
asked Nov 26 '18 at 11:58
Syaiful Nizam YahyaSyaiful Nizam Yahya
1,786103454
1,786103454
add a comment |
add a comment |
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