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chk
921
pipeline/readTwoImages.py
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921
pipeline/readTwoImages.py
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#!/usr/bin/env python3
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"""
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readCamPositionTwo.py
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Two-camera ArUco detection with joint optimization of both camera extrinsics
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against known machine-frame reference markers, plus triangulation of unknown
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marker positions. Outputs camera pose and marker poses in machine coordinates,
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with CSV and JSON similar to the single-camera script.
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Dependencies: numpy, opencv-python (cv2)
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Optional but NOT required: SciPy (we implement a simple Levenberg–Marquardt).
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Usage example:
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python3 readTwoImages.py -i snapshot_video0_1764531874081.jpg -i snapshot_video1_1764531874081.jpg -npz callibration_cam0.npz -npz callibration_cam1.npz -settings settings.json
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python3 readTwoImages.py -i snapshot_video0_1764524369655.jpg -i snapshot_video1_1764524369655.jpg -npz callibration_cam0.npz -npz callibration_cam1.npz -settings settings.json
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python3 readTwoImages.py -i snapshot_video0_1765009029764.jpg -i snapshot_video1_1765009029764.jpg -npz callibration_cam0.npz -npz callibration_cam1.npz -settings settings.json
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NEW:
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python3 readTwoImages.py -i img0.jpg -i img1.jpg -npz cam0.npz -npz cam1.npz -settings settings.json -outDir results/
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Settings JSON is expected to contain:
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{
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"coordinateSystem": {
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"KnownMarkers": {
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"50": [0.0, 0.0, 0.0],
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"71": [0.140, 0.0, 0.0],
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"101": [0.0, -0.080, 0.0]
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}
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}
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}
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"""
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import argparse
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import os
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import sys
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import json
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import time
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from typing import Dict, Tuple, List
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import numpy as np
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import cv2
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# ---------------- Configuration defaults ----------------
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AXIS_LENGTH_M = 0.05
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# ---------------- Utilities ----------------
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def load_intrinsics_npz(npz_path: str) -> Tuple[np.ndarray, np.ndarray]:
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print("NPZ reading of file:", npz_path)
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if os.path.exists(npz_path):
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data = np.load(npz_path)
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for k in ('camera_matrix', 'mtx', 'K'):
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if k in data:
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camera_matrix = data[k].astype(np.float32)
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break
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else:
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raise KeyError("Camera matrix not found in NPZ.")
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for k in ('dist_coeffs', 'dist', 'D'):
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if k in data:
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dist = data[k].astype(np.float32).reshape(-1,1)
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break
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else:
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dist = np.zeros((5,1), dtype=np.float32)
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print("NPZ loaded:", npz_path)
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return camera_matrix, dist
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# Fallback default intrinsics
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camera_matrix = np.array([[1400, 0, 640],
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[0, 1400, 360],
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[0, 0, 1]], dtype=np.float32)
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dist_coeffs = np.zeros((5,1), dtype=np.float32)
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print("[WARN] Using default approximate intrinsics.")
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return camera_matrix, dist_coeffs
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def get_aruco_detector(dict_name: str):
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mapping = {
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'DICT_4X4_250': cv2.aruco.DICT_4X4_250,
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'DICT_5X5_100': cv2.aruco.DICT_5X5_100,
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'DICT_6X6_250': cv2.aruco.DICT_6X6_250,
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'DICT_ARUCO_ORIGINAL': cv2.aruco.DICT_ARUCO_ORIGINAL,
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}
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if dict_name not in mapping:
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dict_id = cv2.aruco.DICT_4X4_250
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else:
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dict_id = mapping[dict_name]
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dictionary = cv2.aruco.getPredefinedDictionary(dict_id)
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try:
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params = cv2.aruco.DetectorParameters()
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except Exception:
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params = cv2.aruco.DetectorParameters_create()
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try:
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detector = cv2.aruco.ArucoDetector(dictionary, params)
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return detector, None
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except Exception:
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return None, (dictionary, params)
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def detect_markers(image: np.ndarray, detector_tuple):
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detector, fallback = detector_tuple
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if detector is not None:
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corners, ids, rejected = detector.detectMarkers(image)
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else:
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dictionary, params = fallback
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corners, ids, rejected = cv2.aruco.detectMarkers(image, dictionary, parameters=params)
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return corners, ids, rejected
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def corners_to_image_points(corners: np.ndarray) -> np.ndarray:
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return corners.reshape(4,2).astype(np.float32)
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def marker_center_from_corners(corners: np.ndarray) -> np.ndarray:
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pts = corners.reshape(4,2)
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return pts.mean(axis=0).astype(np.float32)
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def rvec_to_R(rvec: np.ndarray) -> np.ndarray:
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R, _ = cv2.Rodrigues(rvec)
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return R
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def rigid_transform_no_scale(A: np.ndarray, B: np.ndarray) -> Tuple[np.ndarray, np.ndarray]:
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"""Find R,t s.t. B ≈ R A + t. A,B: Nx3."""
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assert A.shape == B.shape and A.shape[1] == 3, "A and B must be Nx3"
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N = A.shape[0]
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if N < 2:
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raise ValueError("Need at least 2 points; 3+ recommended.")
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centroid_A = A.mean(axis=0)
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centroid_B = B.mean(axis=0)
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AA = A - centroid_A
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BB = B - centroid_B
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H = AA.T @ BB
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U, S, Vt = np.linalg.svd(H)
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R = Vt.T @ U.T
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if np.linalg.det(R) < 0:
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Vt[-1, :] *= -1
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R = Vt.T @ U.T
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t = centroid_B - R @ centroid_A
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return R.astype(np.float32), t.astype(np.float32)
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def undistort_to_normalized(points_px: np.ndarray, K: np.ndarray, D: np.ndarray) -> np.ndarray:
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"""points_px: Nx2 pixel. Returns Nx2 normalized coords (x,y) where projection is x=Xp/Z, y=Yp/Z.
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cv2.undistortPoints with P=None yields normalized coordinates.
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"""
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pts = points_px.reshape(-1,1,2).astype(np.float32)
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und = cv2.undistortPoints(pts, K, D, P=None) # returns Nx1x2
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return und.reshape(-1,2)
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# ---------------- Joint optimization (LM, numerical Jacobian) ----------------
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def pack_params(omega1, t1, omega2, t2) -> np.ndarray:
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return np.hstack([omega1, t1, omega2, t2]).astype(np.float64)
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def unpack_params(theta: np.ndarray):
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omega1 = theta[0:3]
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t1 = theta[3:6]
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omega2 = theta[6:9]
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t2 = theta[9:12]
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return omega1, t1, omega2, t2
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def residuals_centers_normalized(theta: np.ndarray,
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X_mach: np.ndarray,
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obs1_norm: np.ndarray,
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obs2_norm: np.ndarray) -> np.ndarray:
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"""
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Compute residuals in normalized coordinates (no intrinsics, no distortion).
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For camera j: X_cam = R_j X_mach + t_j; proj: (x/z, y/z).
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Returns stacked residuals [r1; r2] shape (4N,), where N = number of references.
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"""
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omega1, t1, omega2, t2 = unpack_params(theta)
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R1 = cv2.Rodrigues(omega1)[0]
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R2 = cv2.Rodrigues(omega2)[0]
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# Camera 1 projections
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X_cam1 = (R1 @ X_mach.T + t1.reshape(3,1)).T # Nx3
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uv1 = X_cam1[:, :2] / X_cam1[:, 2:3]
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r1 = (obs1_norm - uv1).reshape(-1)
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# Camera 2 projections
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X_cam2 = (R2 @ X_mach.T + t2.reshape(3,1)).T
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uv2 = X_cam2[:, :2] / X_cam2[:, 2:3]
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r2 = (obs2_norm - uv2).reshape(-1)
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return np.hstack([r1, r2])
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def numerical_jacobian(f, theta: np.ndarray, eps: float, *args) -> np.ndarray:
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"""Finite-difference Jacobian: forward differences."""
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r0 = f(theta, *args)
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m = r0.size
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n = theta.size
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J = np.zeros((m, n), dtype=np.float64)
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for k in range(n):
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th = theta.copy()
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th[k] += eps
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rk = f(th, *args)
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J[:, k] = (rk - r0) / eps
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return J, r0
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def lm_solve(theta0: np.ndarray,
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X_mach: np.ndarray,
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obs1_norm: np.ndarray,
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obs2_norm: np.ndarray,
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max_iter: int = 50,
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eps_jac: float = 1e-6,
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lambda_init: float = 1e-3) -> Tuple[np.ndarray, Dict]:
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"""Simple Levenberg–Marquardt on center normalized residuals."""
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lam = lambda_init
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theta = theta0.copy()
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history = {"iters": [], "rms": []}
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for it in range(max_iter):
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J, r = numerical_jacobian(residuals_centers_normalized, theta, eps_jac,
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X_mach, obs1_norm, obs2_norm)
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rms = float(np.sqrt(np.mean(r*r))) if r.size else 0.0
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history["iters"].append(it)
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history["rms"].append(rms)
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# Normal equations with damping
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JTJ = J.T @ J
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g = J.T @ r
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H = JTJ + lam * np.eye(JTJ.shape[0])
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try:
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delta = -np.linalg.solve(H, g)
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except np.linalg.LinAlgError:
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# Fallback to least squares
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delta, *_ = np.linalg.lstsq(H, -g, rcond=None)
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theta_trial = theta + delta
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r_trial = residuals_centers_normalized(theta_trial, X_mach, obs1_norm, obs2_norm)
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rms_trial = float(np.sqrt(np.mean(r_trial*r_trial)))
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if rms_trial < rms: # improve
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theta = theta_trial
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lam *= 0.5
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else:
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lam *= 2.0
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# Convergence criteria
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if np.linalg.norm(delta) < 1e-9 or abs(rms - rms_trial) < 1e-9:
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break
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return theta, history
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# ---------------- Triangulation ----------------
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def build_projection_matrix(K: np.ndarray, R: np.ndarray, t: np.ndarray) -> np.ndarray:
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return K @ np.hstack([R, t.reshape(3,1)])
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def triangulate_center(P1: np.ndarray, P2: np.ndarray, u1: np.ndarray, u2: np.ndarray) -> np.ndarray:
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# u1,u2: (2,) pixel coordinates
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x1 = u1.reshape(2,1)
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x2 = u2.reshape(2,1)
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X_h = cv2.triangulatePoints(P1, P2, x1, x2)
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X = (X_h[:3] / X_h[3]).reshape(3)
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return X.astype(np.float32)
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# ---------------- Main ----------------
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def main():
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print("Started")
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parser = argparse.ArgumentParser(description="Two-camera ArUco joint optimization and triangulation")
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parser.add_argument('-i', '--images', action='append', required=True,
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help="Two image paths: first camera then second camera")
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parser.add_argument('-npz', '--npz', action='append', required=True,
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help="Two NPZ intrinsics paths: cam1 then cam2")
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parser.add_argument('-markerSizeMM', '--markerSizeMM', type=float, default=25.0,
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help="Marker side length in millimeters")
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parser.add_argument('--dict', default='DICT_4X4_250',
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help="ArUco dictionary name")
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parser.add_argument('-settings', type=str, default=None,
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help="Json settings file containing machine KnownMarkers")
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# ============================================================
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# NEW OPTIONAL PARAMETER (100% backward compatible)
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# ============================================================
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parser.add_argument('-outDir', '--outDir',
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type=str,
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default=None,
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help="Optional output directory")
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args = parser.parse_args()
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if len(args.images) != 2 or len(args.npz) != 2:
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print("[ERROR] Provide exactly two images and two intrinsics NPZ files.")
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sys.exit(1)
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img1 = cv2.imread(args.images[0])
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img2 = cv2.imread(args.images[1])
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draw1 = img1.copy()
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draw2 = img2.copy()
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h, w = draw1.shape[:2]
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drawPNG1 = np.zeros((h, w, 3), dtype=np.uint8)
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drawPNG2 = np.zeros((h, w, 3), dtype=np.uint8)
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if img1 is None or img2 is None:
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print("[ERROR] Cannot read one of the images.")
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sys.exit(1)
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K1, D1 = load_intrinsics_npz(args.npz[0])
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K2, D2 = load_intrinsics_npz(args.npz[1])
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# Marker 3D local geometry (square corners)
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half = (args.markerSizeMM / 1000.0) / 2.0
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obj_points = np.array([
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[-half, half, 0.0],
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[ half, half, 0.0],
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[ half, -half, 0.0],
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[-half, -half, 0.0],
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], dtype=np.float32)
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# Read settings for machine known markers
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known_markers: Dict[int, np.ndarray] = {}
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if args.settings is not None and os.path.exists(args.settings):
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with open(args.settings, 'r') as f:
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settings = json.load(f)
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for marker_id, coords in settings['coordinateSystem']['KnownMarkers'].items():
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known_markers[int(marker_id)] = np.array(coords, dtype=np.float32)
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print("[INFO] Loaded KnownMarkers from settings.")
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else:
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known_markers = {
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50: np.array([0.0, 0.0, 0.0], dtype=np.float32),
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71: np.array([0.140, 0.0, 0.0], dtype=np.float32),
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101: np.array([0.0, -0.080, 0.0], dtype=np.float32),
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}
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print("[WARN] Using default KnownMarkers; provide -settings for your machine.")
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# Detect markers in both images
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detector_tuple = get_aruco_detector(args.dict)
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corners1, ids1, _ = detect_markers(img1, detector_tuple)
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corners2, ids2, _ = detect_markers(img2, detector_tuple)
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if ids1 is None or ids2 is None:
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print("[ERROR] No markers detected in one or both images.")
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sys.exit(1)
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ids1 = ids1.flatten().tolist()
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ids2 = ids2.flatten().tolist()
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# Neu: merken, welche Kamera welchen Marker gesehen hat
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seen_by = {}
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for mid in ids1:
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seen_by[mid] = seen_by.get(mid, 0) | 1
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for mid in ids2:
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seen_by[mid] = seen_by.get(mid, 0) | 2
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# Build dicts
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def build_marker_dict(img, corners_list, ids, K, D, draw=False):
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centers = {}
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corners_dict = {}
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poses = {}
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for i, mid in enumerate(ids):
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C = corners_list[i]
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corners_dict[int(mid)] = C
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centers[int(mid)] = marker_center_from_corners(C)
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# Pose from single marker
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img_pts = corners_to_image_points(C)
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success, rvec, tvec = cv2.solvePnP(
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obj_points,
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img_pts,
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K,
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D,
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flags=cv2.SOLVEPNP_IPPE_SQUARE
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)
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if not success:
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success, rvec, tvec = cv2.solvePnP(
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obj_points,
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img_pts,
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K,
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D
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)
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if success:
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poses[int(mid)] = (
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rvec.reshape(3,1),
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tvec.reshape(3,1)
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)
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if draw:
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cv2.drawFrameAxes(draw1, K, D, rvec, tvec, 0.02)
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cv2.drawFrameAxes(drawPNG1, K, D, rvec, tvec, 0.02)
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return centers, corners_dict, poses
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centers1, corners_dict1, poses1 = build_marker_dict(
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img1, corners1, ids1, K1, D1, draw=True
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)
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centers2, corners_dict2, poses2 = build_marker_dict(
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img2, corners2, ids2, K2, D2
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)
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# Common reference markers
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common_refs = [
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mid for mid in known_markers.keys()
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if (mid in centers1 and mid in centers2)
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]
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if len(common_refs) < 3:
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print(f"[ERROR] Need ≥3 common reference markers in both cameras; found {len(common_refs)}: {common_refs}")
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sys.exit(1)
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# Initial extrinsics
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def init_extrinsics_from_rigid(poses_cam, refs):
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A = []
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B = []
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for mid in refs:
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if mid in poses_cam:
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_, tvec = poses_cam[mid]
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A.append(tvec.flatten())
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B.append(known_markers[mid])
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|
||||
if len(A) < 2:
|
||||
raise RuntimeError("Insufficient reference poses for rigid transform init.")
|
||||
|
||||
A = np.stack(A, axis=0)
|
||||
B = np.stack(B, axis=0)
|
||||
|
||||
R_cm, t_cm = rigid_transform_no_scale(A, B)
|
||||
|
||||
R_mc = R_cm.T
|
||||
t_mc = - R_mc @ t_cm
|
||||
|
||||
return R_mc.astype(np.float32), t_mc.astype(np.float32)
|
||||
|
||||
R1_init, t1_init = init_extrinsics_from_rigid(poses1, common_refs)
|
||||
R2_init, t2_init = init_extrinsics_from_rigid(poses2, common_refs)
|
||||
|
||||
# Observations
|
||||
X_mach_refs = np.stack([
|
||||
known_markers[mid] for mid in common_refs
|
||||
], axis=0).astype(np.float32)
|
||||
|
||||
obs1_px = np.stack([
|
||||
centers1[mid] for mid in common_refs
|
||||
], axis=0).astype(np.float32)
|
||||
|
||||
obs2_px = np.stack([
|
||||
centers2[mid] for mid in common_refs
|
||||
], axis=0).astype(np.float32)
|
||||
|
||||
obs1_norm = undistort_to_normalized(obs1_px, K1, D1)
|
||||
obs2_norm = undistort_to_normalized(obs2_px, K2, D2)
|
||||
|
||||
omega1_init = cv2.Rodrigues(R1_init)[0].reshape(3)
|
||||
omega2_init = cv2.Rodrigues(R2_init)[0].reshape(3)
|
||||
|
||||
theta0 = pack_params(
|
||||
omega1_init,
|
||||
t1_init.reshape(3),
|
||||
omega2_init,
|
||||
t2_init.reshape(3)
|
||||
)
|
||||
|
||||
theta_opt, hist = lm_solve(
|
||||
theta0,
|
||||
X_mach_refs,
|
||||
obs1_norm,
|
||||
obs2_norm,
|
||||
max_iter=60,
|
||||
eps_jac=1e-6,
|
||||
lambda_init=1e-3
|
||||
)
|
||||
|
||||
omega1, t1, omega2, t2 = unpack_params(theta_opt)
|
||||
|
||||
R1_opt = cv2.Rodrigues(omega1)[0]
|
||||
R2_opt = cv2.Rodrigues(omega2)[0]
|
||||
|
||||
# Camera pose in machine coordinates
|
||||
R1_cm = R1_opt.T
|
||||
t1_cm = - R1_cm @ t1
|
||||
|
||||
R2_cm = R2_opt.T
|
||||
t2_cm = - R2_cm @ t2
|
||||
|
||||
# Projection matrices
|
||||
P1 = build_projection_matrix(K1, R1_opt, t1)
|
||||
P2 = build_projection_matrix(K2, R2_opt, t2)
|
||||
|
||||
# Collect markers
|
||||
all_ids = set(ids1) | set(ids2)
|
||||
|
||||
rows = [("id", "x_mm", "y_mm", "z_mm", "roll_deg", "pitch_deg", "yaw_deg", "seen_by")]
|
||||
|
||||
marker_list = []
|
||||
|
||||
def R_to_euler_zyx(R: np.ndarray):
|
||||
|
||||
yaw = float(np.degrees(np.arctan2(R[1,0], R[0,0])))
|
||||
|
||||
sp = np.sqrt(R[2,1]**2 + R[2,2]**2)
|
||||
|
||||
pitch = float(np.degrees(np.arctan2(-R[2,0], sp)))
|
||||
|
||||
roll = float(np.degrees(np.arctan2(R[2,1], R[2,2])))
|
||||
|
||||
return roll, pitch, yaw
|
||||
|
||||
cam1_roll, cam1_pitch, cam1_yaw = R_to_euler_zyx(R1_cm)
|
||||
cam2_roll, cam2_pitch, cam2_yaw = R_to_euler_zyx(R2_cm)
|
||||
|
||||
c1_mm = (t1_cm * 1000.0).tolist()
|
||||
|
||||
rows.append((
|
||||
"camera 0",
|
||||
f"{c1_mm[0]:.2f}",
|
||||
f"{c1_mm[1]:.2f}",
|
||||
f"{c1_mm[2]:.2f}",
|
||||
f"{cam1_roll:.3f}",
|
||||
f"{cam1_pitch:.3f}",
|
||||
f"{cam1_yaw:.3f}"
|
||||
))
|
||||
|
||||
c2_mm = (t2_cm * 1000.0).tolist()
|
||||
|
||||
rows.append((
|
||||
"camera 1",
|
||||
f"{c2_mm[0]:.2f}",
|
||||
f"{c2_mm[1]:.2f}",
|
||||
f"{c2_mm[2]:.2f}",
|
||||
f"{cam2_roll:.3f}",
|
||||
f"{cam2_pitch:.3f}",
|
||||
f"{cam2_yaw:.3f}"
|
||||
))
|
||||
|
||||
# Triangulate and output markers
|
||||
def orientation_in_machine(mid: int):
|
||||
|
||||
if mid in poses1:
|
||||
Rm_cam = rvec_to_R(poses1[mid][0])
|
||||
Rm_machine = R1_cm @ Rm_cam
|
||||
|
||||
elif mid in poses2:
|
||||
Rm_cam = rvec_to_R(poses2[mid][0])
|
||||
Rm_machine = R2_cm @ Rm_cam
|
||||
|
||||
else:
|
||||
Rm_machine = np.eye(3, dtype=np.float32)
|
||||
|
||||
return R_to_euler_zyx(Rm_machine)
|
||||
|
||||
for mid in sorted(all_ids):
|
||||
|
||||
if mid in centers1 and mid in centers2:
|
||||
|
||||
X_mach = triangulate_center(
|
||||
P1,
|
||||
P2,
|
||||
centers1[mid],
|
||||
centers2[mid]
|
||||
)
|
||||
|
||||
elif mid in poses1:
|
||||
|
||||
X_mach = (
|
||||
R1_cm @ poses1[mid][1].flatten() + t1_cm
|
||||
)
|
||||
|
||||
elif mid in poses2:
|
||||
|
||||
X_mach = (
|
||||
R2_cm @ poses2[mid][1].flatten() + t2_cm
|
||||
)
|
||||
|
||||
else:
|
||||
continue
|
||||
|
||||
roll, pitch, yaw = orientation_in_machine(mid)
|
||||
|
||||
x_mm, y_mm, z_mm = (X_mach * 1000.0).tolist()
|
||||
|
||||
rows.append((
|
||||
mid,
|
||||
f"{x_mm:.2f}",
|
||||
f"{y_mm:.2f}",
|
||||
f"{z_mm:.2f}",
|
||||
f"{roll:.3f}",
|
||||
f"{pitch:.3f}",
|
||||
f"{yaw:.3f}",
|
||||
seen_by.get(mid, 0)
|
||||
))
|
||||
|
||||
marker_list.append({
|
||||
"id": int(mid),
|
||||
"position_mm": [float(x_mm), float(y_mm), float(z_mm)],
|
||||
"orientation_deg": {
|
||||
"roll": float(roll),
|
||||
"pitch": float(pitch),
|
||||
"yaw": float(yaw)
|
||||
}
|
||||
})
|
||||
|
||||
# ============================================================
|
||||
# OUTPUT DIRECTORY HANDLING
|
||||
# ============================================================
|
||||
|
||||
base1 = os.path.splitext(os.path.basename(args.images[0]))[0]
|
||||
base2 = os.path.splitext(os.path.basename(args.images[1]))[0]
|
||||
|
||||
if args.outDir is not None:
|
||||
|
||||
out_dir = args.outDir
|
||||
os.makedirs(out_dir, exist_ok=True)
|
||||
|
||||
else:
|
||||
|
||||
out_dir = os.path.dirname(args.images[0])
|
||||
|
||||
if out_dir == "":
|
||||
out_dir = "."
|
||||
|
||||
# Save CSV & JSON
|
||||
out_csv = os.path.join(out_dir, f"{base1}_two_cam.csv")
|
||||
out_json = os.path.join(out_dir, f"{base1}_two_cam.json")
|
||||
|
||||
try:
|
||||
import csv
|
||||
|
||||
with open(out_csv, 'w', newline='') as f:
|
||||
writer = csv.writer(f)
|
||||
writer.writerows(rows)
|
||||
|
||||
print(f"[INFO] Saved CSV poses to '{out_csv}'.")
|
||||
|
||||
except Exception as e:
|
||||
print(f"[WARN] Could not save CSV: {e}")
|
||||
|
||||
json_data = {
|
||||
"metadata": {
|
||||
"timestamp": time.strftime("%Y-%m-%d %H:%M:%S"),
|
||||
"reference_markers": common_refs,
|
||||
"dict": args.dict,
|
||||
"marker_size_mm": args.markerSizeMM,
|
||||
"description": "Two-camera joint optimization with triangulation"
|
||||
},
|
||||
"cameras": [
|
||||
{
|
||||
"id": "camera1",
|
||||
"position_mm": [float(x) for x in (t1_cm * 1000.0)],
|
||||
"orientation_deg": {
|
||||
"roll": cam1_roll,
|
||||
"pitch": cam1_pitch,
|
||||
"yaw": cam1_yaw
|
||||
},
|
||||
},
|
||||
{
|
||||
"id": "camera2",
|
||||
"position_mm": [float(x) for x in (t2_cm * 1000.0)],
|
||||
"orientation_deg": {
|
||||
"roll": cam2_roll,
|
||||
"pitch": cam2_pitch,
|
||||
"yaw": cam2_yaw
|
||||
},
|
||||
}
|
||||
],
|
||||
"markers": marker_list
|
||||
}
|
||||
|
||||
try:
|
||||
|
||||
with open(out_json, 'w', encoding='utf-8') as f:
|
||||
json.dump(json_data, f, indent=4)
|
||||
|
||||
print(f"[INFO] Saved JSON poses to '{out_json}'.")
|
||||
|
||||
except Exception as e:
|
||||
print(f"[WARN] Could not save JSON: {e}")
|
||||
|
||||
# Annotate images with machine axes using camera1 extrinsics
|
||||
try:
|
||||
|
||||
R_machine_to_cam1 = R1_opt
|
||||
t_machine_to_cam1 = t1
|
||||
|
||||
machine_axes = np.float32([
|
||||
[0.0, 0.0, 0.0],
|
||||
[0.200, 0.0, 0.0],
|
||||
[0.0, -0.100, 0.0],
|
||||
[0.0, 0.0, 0.100],
|
||||
])
|
||||
|
||||
rvec_global, _ = cv2.Rodrigues(R_machine_to_cam1)
|
||||
|
||||
imgpts, _ = cv2.projectPoints(
|
||||
machine_axes,
|
||||
rvec_global,
|
||||
t_machine_to_cam1,
|
||||
K1,
|
||||
D1
|
||||
)
|
||||
|
||||
origin = tuple(np.round(imgpts[0].ravel()).astype(int))
|
||||
x_end = tuple(np.round(imgpts[1].ravel()).astype(int))
|
||||
y_end = tuple(np.round(imgpts[2].ravel()).astype(int))
|
||||
z_end = tuple(np.round(imgpts[3].ravel()).astype(int))
|
||||
|
||||
cv2.aruco.drawDetectedMarkers(draw1, corners1)
|
||||
cv2.aruco.drawDetectedMarkers(drawPNG1, corners1)
|
||||
|
||||
try:
|
||||
for i, mid in enumerate(ids1):
|
||||
|
||||
try:
|
||||
pts = corners1[i].reshape((4, 2))
|
||||
center = tuple(np.round(pts.mean(axis=0)).astype(int))
|
||||
except Exception:
|
||||
continue
|
||||
|
||||
text = str(int(mid))
|
||||
|
||||
pos = (
|
||||
int(center[0]) + 15,
|
||||
int(center[1]) - 15
|
||||
)
|
||||
|
||||
cv2.putText(
|
||||
draw1,
|
||||
text,
|
||||
pos,
|
||||
cv2.FONT_HERSHEY_SIMPLEX,
|
||||
1.0,
|
||||
(255,0,0),
|
||||
3,
|
||||
lineType=cv2.LINE_AA
|
||||
)
|
||||
|
||||
cv2.putText(
|
||||
drawPNG1,
|
||||
text,
|
||||
pos,
|
||||
cv2.FONT_HERSHEY_SIMPLEX,
|
||||
1.0,
|
||||
(255,0,0,255),
|
||||
3,
|
||||
lineType=cv2.LINE_AA
|
||||
)
|
||||
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
cv2.line(draw1, origin, x_end, (0,0,255), 3)
|
||||
cv2.line(draw1, origin, y_end, (0,255,0), 3)
|
||||
cv2.line(draw1, origin, z_end, (255,0,0), 3)
|
||||
|
||||
cv2.line(drawPNG1, origin, x_end, (0,0,255,255), 3)
|
||||
cv2.line(drawPNG1, origin, y_end, (0,255,0,255), 3)
|
||||
cv2.line(drawPNG1, origin, z_end, (255,0,0,255), 3)
|
||||
|
||||
cv2.putText(draw1, "X (200 mm)", x_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0,0,255), 2)
|
||||
cv2.putText(draw1, "Y (-100 mm)", y_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0,255,0), 2)
|
||||
cv2.putText(draw1, "+Z (100 mm)", z_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255,0,0), 2)
|
||||
|
||||
cv2.putText(drawPNG1, "X (200 mm)", x_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0,0,255,255), 2)
|
||||
cv2.putText(drawPNG1, "Y (-100 mm)", y_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0,255,0,255), 2)
|
||||
cv2.putText(drawPNG1, "+Z (100 mm)", z_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255,0,0,255), 2)
|
||||
|
||||
out_img1 = os.path.join(out_dir, f"{base1}_two_cam_annotated.jpg")
|
||||
|
||||
cv2.imwrite(out_img1, draw1)
|
||||
|
||||
print(f"[INFO] Annotated image saved as '{out_img1}'.")
|
||||
|
||||
gray = cv2.cvtColor(drawPNG1, cv2.COLOR_BGR2GRAY)
|
||||
|
||||
_, alpha = cv2.threshold(gray, 0, 255, cv2.THRESH_BINARY)
|
||||
|
||||
drawPNG_1 = cv2.merge([
|
||||
drawPNG1[:, :, 0],
|
||||
drawPNG1[:, :, 1],
|
||||
drawPNG1[:, :, 2],
|
||||
alpha
|
||||
])
|
||||
|
||||
out_png1 = os.path.join(out_dir, f"{base1}_two_cam_overlay.png")
|
||||
|
||||
cv2.imwrite(out_png1, drawPNG_1)
|
||||
|
||||
except Exception as e:
|
||||
print(f"[WARN] Failed to draw machine axes: {e}")
|
||||
|
||||
# Camera 2 overlay
|
||||
try:
|
||||
|
||||
machine_axes2 = np.float32([
|
||||
[0.0, 0.0, 0.0],
|
||||
[0.200, 0.0, 0.0],
|
||||
[0.0, -0.100, 0.0],
|
||||
[0.0, 0.0, 0.100],
|
||||
])
|
||||
|
||||
rvec_global2, _ = cv2.Rodrigues(R2_opt)
|
||||
|
||||
imgpts2, _ = cv2.projectPoints(
|
||||
machine_axes2,
|
||||
rvec_global2,
|
||||
t2,
|
||||
K2,
|
||||
D2
|
||||
)
|
||||
|
||||
origin2 = tuple(np.round(imgpts2[0].ravel()).astype(int))
|
||||
x_end2 = tuple(np.round(imgpts2[1].ravel()).astype(int))
|
||||
y_end2 = tuple(np.round(imgpts2[2].ravel()).astype(int))
|
||||
z_end2 = tuple(np.round(imgpts2[3].ravel()).astype(int))
|
||||
|
||||
cv2.aruco.drawDetectedMarkers(draw2, corners2)
|
||||
cv2.aruco.drawDetectedMarkers(drawPNG2, corners2)
|
||||
|
||||
try:
|
||||
for i, mid in enumerate(ids2):
|
||||
|
||||
try:
|
||||
pts = corners2[i].reshape((4, 2))
|
||||
center = tuple(np.round(pts.mean(axis=0)).astype(int))
|
||||
except Exception:
|
||||
continue
|
||||
|
||||
text = str(int(mid))
|
||||
|
||||
pos = (
|
||||
int(center[0]) + 13,
|
||||
int(center[1]) + 3
|
||||
)
|
||||
|
||||
cv2.putText(
|
||||
draw2,
|
||||
text,
|
||||
pos,
|
||||
cv2.FONT_HERSHEY_SIMPLEX,
|
||||
1.0,
|
||||
(255,0,0),
|
||||
3,
|
||||
lineType=cv2.LINE_AA
|
||||
)
|
||||
|
||||
cv2.putText(
|
||||
drawPNG2,
|
||||
text,
|
||||
pos,
|
||||
cv2.FONT_HERSHEY_SIMPLEX,
|
||||
1.0,
|
||||
(255,0,0,255),
|
||||
3,
|
||||
lineType=cv2.LINE_AA
|
||||
)
|
||||
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
cv2.line(draw2, origin2, x_end2, (0,0,255), 3)
|
||||
cv2.line(draw2, origin2, y_end2, (0,255,0), 3)
|
||||
cv2.line(draw2, origin2, z_end2, (255,0,0), 3)
|
||||
|
||||
cv2.line(drawPNG2, origin2, x_end2, (0,0,255,255), 3)
|
||||
cv2.line(drawPNG2, origin2, y_end2, (0,255,0,255), 3)
|
||||
cv2.line(drawPNG2, origin2, z_end2, (255,0,0,255), 3)
|
||||
|
||||
cv2.putText(draw2, "X (200 mm)", x_end2, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0,0,255), 2)
|
||||
cv2.putText(draw2, "Y (-100 mm)", y_end2, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0,255,0), 2)
|
||||
cv2.putText(draw2, "+Z (100 mm)", z_end2, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255,0,0), 2)
|
||||
|
||||
cv2.putText(drawPNG2, "X (200 mm)", x_end2, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0,0,255,255), 2)
|
||||
cv2.putText(drawPNG2, "Y (-100 mm)", y_end2, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0,255,0,255), 2)
|
||||
cv2.putText(drawPNG2, "+Z (100 mm)", z_end2, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255,0,0,255), 2)
|
||||
|
||||
out_img2 = os.path.join(out_dir, f"{base2}_two_cam_annotated.jpg")
|
||||
|
||||
cv2.imwrite(out_img2, draw2)
|
||||
|
||||
print(f"[INFO] Annotated image saved as '{out_img2}'.")
|
||||
|
||||
gray2 = cv2.cvtColor(drawPNG2, cv2.COLOR_BGR2GRAY)
|
||||
|
||||
_, alpha2 = cv2.threshold(gray2, 0, 255, cv2.THRESH_BINARY)
|
||||
|
||||
drawPNG_2 = cv2.merge([
|
||||
drawPNG2[:, :, 0],
|
||||
drawPNG2[:, :, 1],
|
||||
drawPNG2[:, :, 2],
|
||||
alpha2
|
||||
])
|
||||
|
||||
out_png2 = os.path.join(out_dir, f"{base2}_two_cam_overlay.png")
|
||||
|
||||
cv2.imwrite(out_png2, drawPNG_2)
|
||||
|
||||
print(f"[INFO] Overlay PNG saved as '{out_png2}'.")
|
||||
|
||||
except Exception as e:
|
||||
print(f"[WARN] Failed to draw machine axes for camera2: {e}")
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
Reference in New Issue
Block a user