mirror of
https://github.com/opencv/opencv.git
synced 2024-12-16 02:19:12 +08:00
9931da772d
Added charuco board generation to gen_pattern.py #23363 added charuco board generation in gen_pattern.py moved aruco_dict_utils.cpp to samples from opencv_contrib (https://github.com/opencv/opencv_contrib/pull/3464) ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [x] The feature is well documented and sample code can be built with the project CMake
298 lines
14 KiB
Python
Executable File
298 lines
14 KiB
Python
Executable File
#!/usr/bin/env python
|
|
|
|
"""gen_pattern.py
|
|
Usage example:
|
|
python gen_pattern.py -o out.svg -r 11 -c 8 -T circles -s 20.0 -R 5.0 -u mm -w 216 -h 279
|
|
-o, --output - output file (default out.svg)
|
|
-r, --rows - pattern rows (default 11)
|
|
-c, --columns - pattern columns (default 8)
|
|
-T, --type - type of pattern: circles, acircles, checkerboard, radon_checkerboard, charuco_board. default circles.
|
|
-s, --square_size - size of squares in pattern (default 20.0)
|
|
-R, --radius_rate - circles_radius = square_size/radius_rate (default 5.0)
|
|
-u, --units - mm, inches, px, m (default mm)
|
|
-w, --page_width - page width in units (default 216)
|
|
-h, --page_height - page height in units (default 279)
|
|
-a, --page_size - page size (default A4), supersedes -h -w arguments
|
|
-m, --markers - list of cells with markers for the radon checkerboard
|
|
-p, --aruco_marker_size - aruco markers size for ChAruco pattern (default 10.0)
|
|
-f, --dict_file - file name of custom aruco dictionary for ChAruco pattern
|
|
-H, --help - show help
|
|
"""
|
|
|
|
import argparse
|
|
import numpy as np
|
|
import json
|
|
import gzip
|
|
from svgfig import *
|
|
|
|
|
|
class PatternMaker:
|
|
def __init__(self, cols, rows, output, units, square_size, radius_rate, page_width, page_height, markers, aruco_marker_size, dict_file):
|
|
self.cols = cols
|
|
self.rows = rows
|
|
self.output = output
|
|
self.units = units
|
|
self.square_size = square_size
|
|
self.radius_rate = radius_rate
|
|
self.width = page_width
|
|
self.height = page_height
|
|
self.markers = markers
|
|
self.aruco_marker_size = aruco_marker_size #for charuco boards only
|
|
self.dict_file = dict_file
|
|
|
|
self.g = SVG("g") # the svg group container
|
|
|
|
def make_circles_pattern(self):
|
|
spacing = self.square_size
|
|
r = spacing / self.radius_rate
|
|
pattern_width = ((self.cols - 1.0) * spacing) + (2.0 * r)
|
|
pattern_height = ((self.rows - 1.0) * spacing) + (2.0 * r)
|
|
x_spacing = (self.width - pattern_width) / 2.0
|
|
y_spacing = (self.height - pattern_height) / 2.0
|
|
for x in range(0, self.cols):
|
|
for y in range(0, self.rows):
|
|
dot = SVG("circle", cx=(x * spacing) + x_spacing + r,
|
|
cy=(y * spacing) + y_spacing + r, r=r, fill="black", stroke="none")
|
|
self.g.append(dot)
|
|
|
|
def make_acircles_pattern(self):
|
|
spacing = self.square_size
|
|
r = spacing / self.radius_rate
|
|
pattern_width = ((self.cols-1.0) * 2 * spacing) + spacing + (2.0 * r)
|
|
pattern_height = ((self.rows-1.0) * spacing) + (2.0 * r)
|
|
x_spacing = (self.width - pattern_width) / 2.0
|
|
y_spacing = (self.height - pattern_height) / 2.0
|
|
for x in range(0, self.cols):
|
|
for y in range(0, self.rows):
|
|
dot = SVG("circle", cx=(2 * x * spacing) + (y % 2)*spacing + x_spacing + r,
|
|
cy=(y * spacing) + y_spacing + r, r=r, fill="black", stroke="none")
|
|
self.g.append(dot)
|
|
|
|
def make_checkerboard_pattern(self):
|
|
spacing = self.square_size
|
|
xspacing = (self.width - self.cols * self.square_size) / 2.0
|
|
yspacing = (self.height - self.rows * self.square_size) / 2.0
|
|
for x in range(0, self.cols):
|
|
for y in range(0, self.rows):
|
|
if x % 2 == y % 2:
|
|
square = SVG("rect", x=x * spacing + xspacing, y=y * spacing + yspacing, width=spacing,
|
|
height=spacing, fill="black", stroke="none")
|
|
self.g.append(square)
|
|
|
|
@staticmethod
|
|
def _make_round_rect(x, y, diam, corners=("right", "right", "right", "right")):
|
|
rad = diam / 2
|
|
cw_point = ((0, 0), (diam, 0), (diam, diam), (0, diam))
|
|
mid_cw_point = ((0, rad), (rad, 0), (diam, rad), (rad, diam))
|
|
res_str = "M{},{} ".format(x + mid_cw_point[0][0], y + mid_cw_point[0][1])
|
|
n = len(cw_point)
|
|
for i in range(n):
|
|
if corners[i] == "right":
|
|
res_str += "L{},{} L{},{} ".format(x + cw_point[i][0], y + cw_point[i][1],
|
|
x + mid_cw_point[(i + 1) % n][0], y + mid_cw_point[(i + 1) % n][1])
|
|
elif corners[i] == "round":
|
|
res_str += "A{},{} 0,0,1 {},{} ".format(rad, rad, x + mid_cw_point[(i + 1) % n][0],
|
|
y + mid_cw_point[(i + 1) % n][1])
|
|
else:
|
|
raise TypeError("unknown corner type")
|
|
return res_str
|
|
|
|
def _get_type(self, x, y):
|
|
corners = ["right", "right", "right", "right"]
|
|
is_inside = True
|
|
if x == 0:
|
|
corners[0] = "round"
|
|
corners[3] = "round"
|
|
is_inside = False
|
|
if y == 0:
|
|
corners[0] = "round"
|
|
corners[1] = "round"
|
|
is_inside = False
|
|
if x == self.cols - 1:
|
|
corners[1] = "round"
|
|
corners[2] = "round"
|
|
is_inside = False
|
|
if y == self.rows - 1:
|
|
corners[2] = "round"
|
|
corners[3] = "round"
|
|
is_inside = False
|
|
return corners, is_inside
|
|
|
|
def make_radon_checkerboard_pattern(self):
|
|
spacing = self.square_size
|
|
xspacing = (self.width - self.cols * self.square_size) / 2.0
|
|
yspacing = (self.height - self.rows * self.square_size) / 2.0
|
|
for x in range(0, self.cols):
|
|
for y in range(0, self.rows):
|
|
if x % 2 == y % 2:
|
|
corner_types, is_inside = self._get_type(x, y)
|
|
if is_inside:
|
|
square = SVG("rect", x=x * spacing + xspacing, y=y * spacing + yspacing, width=spacing,
|
|
height=spacing, fill="black", stroke="none")
|
|
else:
|
|
square = SVG("path", d=self._make_round_rect(x * spacing + xspacing, y * spacing + yspacing,
|
|
spacing, corner_types), fill="black", stroke="none")
|
|
self.g.append(square)
|
|
if self.markers is not None:
|
|
r = self.square_size * 0.17
|
|
pattern_width = ((self.cols - 1.0) * spacing) + (2.0 * r)
|
|
pattern_height = ((self.rows - 1.0) * spacing) + (2.0 * r)
|
|
x_spacing = (self.width - pattern_width) / 2.0
|
|
y_spacing = (self.height - pattern_height) / 2.0
|
|
for x, y in self.markers:
|
|
color = "black"
|
|
if x % 2 == y % 2:
|
|
color = "white"
|
|
dot = SVG("circle", cx=(x * spacing) + x_spacing + r,
|
|
cy=(y * spacing) + y_spacing + r, r=r, fill=color, stroke="none")
|
|
self.g.append(dot)
|
|
|
|
@staticmethod
|
|
def _create_marker_bits(markerSize_bits, byteList):
|
|
|
|
marker = np.zeros((markerSize_bits+2, markerSize_bits+2))
|
|
bits = marker[1:markerSize_bits+1, 1:markerSize_bits+1]
|
|
|
|
for i in range(markerSize_bits):
|
|
for j in range(markerSize_bits):
|
|
bits[i][j] = int(byteList[i*markerSize_bits+j])
|
|
|
|
return marker
|
|
|
|
def make_charuco_board(self):
|
|
if (self.aruco_marker_size>self.square_size):
|
|
print("Error: Aruco marker cannot be lager than chessboard square!")
|
|
return
|
|
|
|
if (self.dict_file.split(".")[-1] == "gz"):
|
|
with gzip.open(self.dict_file, 'r') as fin:
|
|
json_bytes = fin.read()
|
|
json_str = json_bytes.decode('utf-8')
|
|
dictionary = json.loads(json_str)
|
|
|
|
else:
|
|
f = open(self.dict_file)
|
|
dictionary = json.load(f)
|
|
|
|
if (dictionary["nmarkers"] < int(self.cols*self.rows/2)):
|
|
print("Error: Aruco dictionary contains less markers than it needs for chosen board. Please choose another dictionary or use smaller board than required for chosen board")
|
|
return
|
|
|
|
markerSize_bits = dictionary["markersize"]
|
|
|
|
side = self.aruco_marker_size / (markerSize_bits+2)
|
|
spacing = self.square_size
|
|
xspacing = (self.width - self.cols * self.square_size) / 2.0
|
|
yspacing = (self.height - self.rows * self.square_size) / 2.0
|
|
|
|
ch_ar_border = (self.square_size - self.aruco_marker_size)/2
|
|
marker_id = 0
|
|
for y in range(0, self.rows):
|
|
for x in range(0, self.cols):
|
|
|
|
if x % 2 == y % 2:
|
|
square = SVG("rect", x=x * spacing + xspacing, y=y * spacing + yspacing, width=spacing,
|
|
height=spacing, fill="black", stroke="none")
|
|
self.g.append(square)
|
|
else:
|
|
img_mark = self._create_marker_bits(markerSize_bits, dictionary["marker_"+str(marker_id)])
|
|
marker_id +=1
|
|
x_pos = x * spacing + xspacing
|
|
y_pos = y * spacing + yspacing
|
|
|
|
square = SVG("rect", x=x_pos+ch_ar_border, y=y_pos+ch_ar_border, width=self.aruco_marker_size,
|
|
height=self.aruco_marker_size, fill="black", stroke="none")
|
|
self.g.append(square)
|
|
for x_ in range(len(img_mark[0])):
|
|
for y_ in range(len(img_mark)):
|
|
if (img_mark[y_][x_] != 0):
|
|
square = SVG("rect", x=x_pos+ch_ar_border+(x_)*side, y=y_pos+ch_ar_border+(y_)*side, width=side,
|
|
height=side, fill="white", stroke="white", stroke_width = spacing*0.01)
|
|
self.g.append(square)
|
|
|
|
def save(self):
|
|
c = canvas(self.g, width="%d%s" % (self.width, self.units), height="%d%s" % (self.height, self.units),
|
|
viewBox="0 0 %d %d" % (self.width, self.height))
|
|
c.save(self.output)
|
|
|
|
|
|
def main():
|
|
# parse command line options
|
|
parser = argparse.ArgumentParser(description="generate camera-calibration pattern", add_help=False)
|
|
parser.add_argument("-H", "--help", help="show help", action="store_true", dest="show_help")
|
|
parser.add_argument("-o", "--output", help="output file", default="out.svg", action="store", dest="output")
|
|
parser.add_argument("-c", "--columns", help="pattern columns", default="8", action="store", dest="columns",
|
|
type=int)
|
|
parser.add_argument("-r", "--rows", help="pattern rows", default="11", action="store", dest="rows", type=int)
|
|
parser.add_argument("-T", "--type", help="type of pattern", default="circles", action="store", dest="p_type",
|
|
choices=["circles", "acircles", "checkerboard", "radon_checkerboard", "charuco_board"])
|
|
parser.add_argument("-u", "--units", help="length unit", default="mm", action="store", dest="units",
|
|
choices=["mm", "inches", "px", "m"])
|
|
parser.add_argument("-s", "--square_size", help="size of squares in pattern", default="20.0", action="store",
|
|
dest="square_size", type=float)
|
|
parser.add_argument("-R", "--radius_rate", help="circles_radius = square_size/radius_rate", default="5.0",
|
|
action="store", dest="radius_rate", type=float)
|
|
parser.add_argument("-w", "--page_width", help="page width in units", default=argparse.SUPPRESS, action="store",
|
|
dest="page_width", type=float)
|
|
parser.add_argument("-h", "--page_height", help="page height in units", default=argparse.SUPPRESS, action="store",
|
|
dest="page_height", type=float)
|
|
parser.add_argument("-a", "--page_size", help="page size, superseded if -h and -w are set", default="A4",
|
|
action="store", dest="page_size", choices=["A0", "A1", "A2", "A3", "A4", "A5"])
|
|
parser.add_argument("-m", "--markers", help="list of cells with markers for the radon checkerboard. Marker "
|
|
"coordinates as list of numbers: -m 1 2 3 4 means markers in cells "
|
|
"[1, 2] and [3, 4]",
|
|
default=argparse.SUPPRESS, action="store", dest="markers", nargs="+", type=int)
|
|
parser.add_argument("-p", "--marker_size", help="aruco markers size for ChAruco pattern (default 10.0)", default="10.0",
|
|
action="store", dest="aruco_marker_size", type=float)
|
|
parser.add_argument("-f", "--dict_file", help="file name of custom aruco dictionary for ChAruco pattern", default="DICT_ARUCO_ORIGINAL.json",
|
|
action="store", dest="dict_file", type=str)
|
|
args = parser.parse_args()
|
|
|
|
show_help = args.show_help
|
|
if show_help:
|
|
parser.print_help()
|
|
return
|
|
output = args.output
|
|
columns = args.columns
|
|
rows = args.rows
|
|
p_type = args.p_type
|
|
units = args.units
|
|
square_size = args.square_size
|
|
radius_rate = args.radius_rate
|
|
aruco_marker_size = args.aruco_marker_size
|
|
dict_file = args.dict_file
|
|
|
|
if 'page_width' and 'page_height' in args:
|
|
page_width = args.page_width
|
|
page_height = args.page_height
|
|
else:
|
|
page_size = args.page_size
|
|
# page size dict (ISO standard, mm) for easy lookup. format - size: [width, height]
|
|
page_sizes = {"A0": [840, 1188], "A1": [594, 840], "A2": [420, 594], "A3": [297, 420], "A4": [210, 297],
|
|
"A5": [148, 210]}
|
|
page_width = page_sizes[page_size][0]
|
|
page_height = page_sizes[page_size][1]
|
|
markers = None
|
|
if p_type == "radon_checkerboard" and "markers" in args:
|
|
if len(args.markers) % 2 == 1:
|
|
raise ValueError("The length of the markers array={} must be even".format(len(args.markers)))
|
|
markers = set()
|
|
for x, y in zip(args.markers[::2], args.markers[1::2]):
|
|
if x in range(0, columns) and y in range(0, rows):
|
|
markers.add((x, y))
|
|
else:
|
|
raise ValueError("The marker {},{} is outside the checkerboard".format(x, y))
|
|
|
|
pm = PatternMaker(columns, rows, output, units, square_size, radius_rate, page_width, page_height, markers, aruco_marker_size, dict_file)
|
|
# dict for easy lookup of pattern type
|
|
mp = {"circles": pm.make_circles_pattern, "acircles": pm.make_acircles_pattern,
|
|
"checkerboard": pm.make_checkerboard_pattern, "radon_checkerboard": pm.make_radon_checkerboard_pattern,
|
|
"charuco_board": pm.make_charuco_board}
|
|
mp[p_type]()
|
|
# this should save pattern to output
|
|
pm.save()
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|