I have a class in python in which using opencv calibrates the charuco board from multiple images class CharucoCalibrator(): def __init__(self, filepaths, squaresX=8, squaresY=11, squareLength=0.015, markerLength=0.011, dict=cv2.aruco.DICT_5X5_100): self.filepaths = filepaths self.squaresX = squaresX self.squaresY = squaresY self.squareLength = squareLength self.markerLength = markerLength self.aruco_dict = cv2.aruco.getPredefinedDictionary(dict) self.rotation_vectors = {} self.rotation_matrices = {} self.translation_vectors = {} self.projection_matricies = {} self.images = [cv2.imread(filepath) for filepath in self.filepaths] self.calibrated_images = [] self.img_size = self.images[0].shape[:2][::-1] def calibrate(self): board = cv2.aruco.CharucoBoard((self.squaresX, self.squaresY), self.squareLength, self.markerLength, self.aruco_dict) params = cv2.aruco.DetectorParameters() all_charuco_corners = [] all_charuco_ids = [] self.successful_filepaths = [] for filepath in self.filepaths: image = cv2.imread(filepath) calib_image = image.copy() # Detect ArUco markers corners, ids, _ = cv2.aruco.detectMarkers(image, self.aruco_dict, parameters=params) cv2.aruco.drawDetectedMarkers(calib_image, corners, ids) # Interpolate ChArUco corners if ids is not None and len(ids) > 0: retval, charuco_corners, charuco_ids = cv2.aruco.interpolateCornersCharuco( markerCorners=corners, markerIds=ids, image=image, board=board ) if retval: all_charuco_corners.append(charuco_corners) all_charuco_ids.append(charuco_ids) # Draw corners cv2.aruco.drawDetectedCornersCharuco(calib_image, charuco_corners, charuco_ids) self.successful_filepaths.append(filepath) self.calibrated_images.append(calib_image) if len(all_charuco_corners) >= 2: ret, self._camera_matrix, self._dist_coeffs, self._rvecs, self._tvecs = cv2.aruco.calibrateCameraCharuco( charucoCorners=all_charuco_corners, charucoIds=all_charuco_ids, board=board, imageSize=self.img_size, cameraMatrix=None, distCoeffs=None ) I'm using 10 images to do the process. Example : For some reason, the code manages to detect all the markers successfully, however not even a single corner is detected. I have done many other example images, but nothing seems to change. I'm using opencv version 4.11.0 Continue reading...
