diff options
24 files changed, 170 insertions, 148 deletions
diff --git a/docs/user_guide/ar_environment/environment_setup.md b/docs/user_guide/ar_environment/environment_setup.md index 367030c..bbfdbd6 100644 --- a/docs/user_guide/ar_environment/environment_setup.md +++ b/docs/user_guide/ar_environment/environment_setup.md @@ -15,7 +15,7 @@ Here is JSON environment file example where it is assumed that mentioned .obj fi "name": "DICT_APRILTAG_16h5" } "marker_size": 5, - "camera": { + "optic_parameters": { "rms": 0.6, "dimensions": [ 1920, diff --git a/docs/user_guide/areas_of_interest/aoi_scene_projection.md b/docs/user_guide/areas_of_interest/aoi_scene_projection.md index a23d069..4d06e87 100644 --- a/docs/user_guide/areas_of_interest/aoi_scene_projection.md +++ b/docs/user_guide/areas_of_interest/aoi_scene_projection.md @@ -14,8 +14,8 @@ An [AOI3DScene](/argaze/#argaze.AreaOfInterest.AOI3DScene) can be rotated and tr # Assuming pose estimation is done (tvec and rmat) -# Project AOI 3D scene according pose estimation and camera intrinsic parameters -aoi2D_scene = aoi3D_scene.project(tvec, rmat, aruco_camera.K) +# Project AOI 3D scene according pose estimation and optic parameters +aoi2D_scene = aoi3D_scene.project(tvec, rmat, optic_parameters.K) # Draw AOI 2D scene aoi2D_scene.draw(frame) diff --git a/docs/user_guide/aruco_markers/camera_calibration.md b/docs/user_guide/aruco_markers/camera_calibration.md index c8a0be9..ea2c51a 100644 --- a/docs/user_guide/aruco_markers/camera_calibration.md +++ b/docs/user_guide/aruco_markers/camera_calibration.md @@ -5,7 +5,7 @@ Any camera device have to be calibrated to compensate its optical distorsion.  -The first step to calibrate a [ArUcoCamera](/argaze/#argaze.ArUcoMarkers.ArUcoCamera) is to create an [ArUcoBoard](/argaze/#argaze.ArUcoMarkers.ArUcoBoard) like in the code below: +The first step to calibrate a camera is to create an [ArUcoBoard](/argaze/#argaze.ArUcoMarkers.ArUcoBoard) like in the code below: ``` python from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoBoard @@ -20,20 +20,20 @@ aruco_board = ArUcoBoard.ArUcoBoard(7, 5, 5, 3, aruco_dictionary) aruco_board.save('./calibration_board.png', 300) ``` -Then, the calibration process needs to make many different captures of an [ArUcoBoard](/argaze/#argaze.ArUcoMarkers.ArUcoBoard) through the camera and then, pass them to an [ArUcoDetector](/argaze/#argaze.ArUcoMarkers.ArUcoDetector.ArUcoDetector) instance. +Then, the calibration process needs to make many different captures of an [ArUcoBoard](/argaze/#argaze.ArUcoMarkers.ArUcoBoard) through the camera and then, pass them to an [ArUcoDetector](/argaze/#argaze.ArUcoMarkers.ArUcoDetector.ArUcoDetector) instance to detect board corners and store them as calibration data to an [ArUcoOpticCalibrator](/argaze/#argaze.ArUcoMarkers.ArUcoOpticCalibrator) for final calibration process.  The sample of code below shows how to detect board corners into camera frames, store detected corners then process them to build calibration data and, finally, save it into a JSON file: ``` python -from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera, ArUcoBoard, ArUcoDetector +from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoOpticCalibrator, ArUcoBoard, ArUcoDetector # Create ArUco dictionary aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_APRILTAG_16h5') -# Create ArUco camera -aruco_camera = ArUcoCamera.ArUcoCamera(dimensions=(1920, 1080)) +# Create ArUco optic calibrator +aruco_optic_calibrator = ArUcoOpticCalibrator.ArUcoOpticCalibrator() # Create ArUco board of 7 columns and 5 rows with 5 cm squares with 3cm aruco markers inside # Note: This board is the one expected during further board tracking @@ -57,27 +57,35 @@ while video_stream.is_alive(): aruco_detector.draw_board(frame) # Append tracked board data for further calibration processing - aruco_camera.store_calibration_data(aruco_detector.board_corners, aruco_detector.board_corners_identifier) + aruco_optic_calibrator.store_calibration_data(aruco_detector.board_corners, aruco_detector.board_corners_identifier) # Start camera calibration processing for Full HD image resolution print('Calibrating camera...') -aruco_camera.calibrate(expected_aruco_board) +optic_parameters = aruco_optic_calibrator.calibrate(aruco_board, dimensions=(1920, 1080)) -# Print camera calibration data -print('Calibration succeeded!') -print(f'RMS:{aruco_camera.rms}') -print(f'Camera matrix:{aruco_camera.K}') -print(f'Distortion coefficients:{aruco_camera.D}') +if optic_parameters: -# Save camera calibration data -aruco_camera.to_json('calibration.json') + print('\nCalibration succeeded!') + + print(f'\nRMS:\n{optic_parameters.rms}') + print(f'\nDimensions:\n{optic_parameters.dimensions[0]}x{optic_parameters.dimensions[1]}') + print(f'\nCamera matrix:\n{optic_parameters.K}') + print(f'\nDistortion coefficients:\n{optic_parameters.D}') + + optic_parameters.to_json(f'{args.output}/calibration.json') + + print(f'\ncalibration.json file exported into {args.output} folder') + +else: + + print('\nCalibration error.') ``` Then, the camera calibration data are loaded to compensate optical distorsion during [ArUcoMarkers](/argaze/#argaze.ArUcoMarkers.ArUcoMarker) detection: ``` python -from argaze.ArUcoMarkers import ArUcoCamera +from argaze.ArUcoMarkers import ArUcoOpticCalibrator -# Load camera calibration data -aruco_camera = ArUcoCamera.ArUcoCamera.from_json('./calibration.json') +# Load camera optic parameters +optic_parameters = ArUcoOpticCalibrator.OpticParameters.from_json('./calibration.json') ``` diff --git a/docs/user_guide/aruco_markers/introduction.md b/docs/user_guide/aruco_markers/introduction.md index fbf01cf..7da045c 100644 --- a/docs/user_guide/aruco_markers/introduction.md +++ b/docs/user_guide/aruco_markers/introduction.md @@ -10,6 +10,6 @@ The ArGaze [ArUcoMarkers submodule](/argaze/#argaze.ArUcoMarkers) eases markers * [ArUcoMarkersDictionary](/argaze/#argaze.ArUcoMarkers.ArUcoMarkersDictionary) * [ArUcoMarkers](/argaze/#argaze.ArUcoMarkers.ArUcoMarker) * [ArUcoBoard](/argaze/#argaze.ArUcoMarkers.ArUcoBoard) -* [ArUcoCamera](/argaze/#argaze.ArUcoMarkers.ArUcoCamera) +* [ArUcoOpticCalibrator](/argaze/#argaze.ArUcoMarkers.ArUcoOpticCalibrator) * [ArUcoDetector](/argaze/#argaze.ArUcoMarkers.ArUcoDetector) * [ArUcoScene](/argaze/#argaze.ArUcoMarkers.ArUcoScene)
\ No newline at end of file diff --git a/docs/user_guide/aruco_markers/markers_detection.md b/docs/user_guide/aruco_markers/markers_detection.md index d962b7b..f8a23f9 100644 --- a/docs/user_guide/aruco_markers/markers_detection.md +++ b/docs/user_guide/aruco_markers/markers_detection.md @@ -8,7 +8,7 @@ Firstly, the [ArUcoDetector](/argaze/#argaze.ArUcoMarkers.ArUcoDetector.ArUcoDet Notice that extra parameters are passed to detector: see [OpenCV ArUco markers detection parameters documentation](https://docs.opencv.org/4.x/d1/dcd/structcv_1_1aruco_1_1DetectorParameters.html) to know more. ``` python -from argaze.ArUcoMarkers import ArUcoDetector, ArUcoCamera +from argaze.ArUcoMarkers import ArUcoDetector, ArUcoOpticCalibrator # Assuming camera calibration data are loaded @@ -16,7 +16,7 @@ from argaze.ArUcoMarkers import ArUcoDetector, ArUcoCamera extra_parameters = ArUcoDetector.DetectorParameters.from_json('./detector_parameters.json') # Create ArUco detector to track DICT_APRILTAG_16h5 5cm length markers -aruco_detector = ArUcoDetector.ArUcoDetector(camera=aruco_camera, dictionary='DICT_APRILTAG_16h5', marker_size=5, parameters=extra_parameters) +aruco_detector = ArUcoDetector.ArUcoDetector(optic_parameters=optic_parameters, dictionary='DICT_APRILTAG_16h5', marker_size=5, parameters=extra_parameters) ``` Here is [DetectorParameters](/argaze/#argaze.ArUcoMarkers.ArUcoDetector.DetectorParameters) JSON file example: diff --git a/docs/user_guide/utils/demonstrations_scripts.md b/docs/user_guide/utils/demonstrations_scripts.md index 5c4ef2b..adcc8b3 100644 --- a/docs/user_guide/utils/demonstrations_scripts.md +++ b/docs/user_guide/utils/demonstrations_scripts.md @@ -18,7 +18,7 @@ python ./src/argaze/utils/demo_ar_features_run.py -d DEVICE ``` !!! warning - This demonstration assumes that camera calibration step is done and a **calibration.json** has been exported into *./src/argaze/utils/demo_environment/* folder. + This demonstration assumes that camera calibration step is done and a **optic_parameters.json** has been exported into *./src/argaze/utils/demo_environment/* folder. !!! note Use **A3_demo.pdf** file located in *./src/argaze/utils/demo_environment/* folder ready to be printed on A3 paper sheet. diff --git a/docs/user_guide/utils/ready-made_scripts.md b/docs/user_guide/utils/ready-made_scripts.md index 82039c5..4ab8b52 100644 --- a/docs/user_guide/utils/ready-made_scripts.md +++ b/docs/user_guide/utils/ready-made_scripts.md @@ -25,7 +25,7 @@ python ./src/argaze/utils/aruco_calibration_board_export.py 7 5 5 3 DICT_APRILTA ## Camera calibration -Calibrate a camera device (-d DEVICE) using a 7 columns and 5 rows calibration board made of 5cm squares with 3cm markers from *DICT_APRILTAG_16h5* dictionary. Then, export its optical parameters into an *calibration.json* file into *./src/argaze/utils/demo_environment/* folder: +Calibrate a camera device (-d DEVICE) using a 7 columns and 5 rows calibration board made of 5cm squares with 3cm markers from *DICT_APRILTAG_16h5* dictionary. Then, export its optical parameters into an *optic_parameters.json* file into *./src/argaze/utils/demo_environment/* folder: ```shell python ./src/argaze/utils/camera_calibrate.py 7 5 5 3 DICT_APRILTAG_16h5 -d DEVICE -o ./src/argaze/utils/demo_environment diff --git a/src/argaze.test/ArFeatures.py b/src/argaze.test/ArFeatures.py index 3f7972d..5da63d1 100644 --- a/src/argaze.test/ArFeatures.py +++ b/src/argaze.test/ArFeatures.py @@ -37,11 +37,11 @@ class TestArEnvironmentClass(unittest.TestCase): self.assertEqual(ar_environment.aruco_detector.parameters.aprilTagQuadSigma, 2) self.assertEqual(ar_environment.aruco_detector.parameters.aprilTagDeglitch, 1) - # Check ArUco detector camera - self.assertEqual(ar_environment.aruco_detector.camera.rms, 1.0) - self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.camera.dimensions, [1920, 1080])) - self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.camera.K, [[1.0, 0.0, 1.0], [0.0, 1.0, 1.0], [0.0, 0.0, 1.0]])) - self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.camera.D, [-1.0, -0.5, 0.0, 0.5, 1.0])) + # Check ArUco detector optic parameters + self.assertEqual(ar_environment.aruco_detector.optic_parameters.rms, 1.0) + self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.optic_parameters.dimensions, [1920, 1080])) + self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.optic_parameters.K, [[1.0, 0.0, 1.0], [0.0, 1.0, 1.0], [0.0, 0.0, 1.0]])) + self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.optic_parameters.D, [-1.0, -0.5, 0.0, 0.5, 1.0])) # Check environment scenes self.assertEqual(len(ar_environment.scenes), 2) diff --git a/src/argaze.test/ArUcoMarkers/ArUcoCamera.py b/src/argaze.test/ArUcoMarkers/ArUcoCamera.py deleted file mode 100644 index 7a53070..0000000 --- a/src/argaze.test/ArUcoMarkers/ArUcoCamera.py +++ /dev/null @@ -1,52 +0,0 @@ -#!/usr/bin/env python - -""" """ - -__author__ = "Théo de la Hogue" -__credits__ = [] -__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)" -__license__ = "BSD" - -import unittest -import os - -from argaze.ArUcoMarkers import ArUcoCamera - -import numpy - -class TestArUcoCameraClass(unittest.TestCase): - """Test ArUcoCamera class.""" - - def test_new(self): - """Test ArUcoCamera creation.""" - - # Check defaut camera creation - aruco_camera = ArUcoCamera.ArUcoCamera() - - # Check ArUco camera - self.assertEqual(aruco_camera.rms, 0.0) - - #self.assertEqual(type(aruco_camera.K), numpy.array) - - self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.dimensions, [0, 0])) - self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.K, ArUcoCamera.K0)) - self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.D, ArUcoCamera.D0)) - - def test_from_json(self): - - # Edit camera file path - current_directory = os.path.dirname(os.path.abspath(__file__)) - json_filepath = os.path.join(current_directory, 'utils/camera.json') - - # Load camera calibration - aruco_camera = ArUcoCamera.ArUcoCamera.from_json(json_filepath) - - # Check ArUco camera - self.assertEqual(aruco_camera.rms, 1.0) - self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.dimensions, [1920, 1080])) - self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.K, [[1.0, 0.0, 1.0], [0.0, 1.0, 1.0], [0.0, 0.0, 1.0]])) - self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.D, [-1.0, -0.5, 0.0, 0.5, 1.0])) - -if __name__ == '__main__': - - unittest.main()
\ No newline at end of file diff --git a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py index cd7c90c..750aaa5 100644 --- a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py +++ b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py @@ -11,7 +11,7 @@ import unittest import os import math -from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera, ArUcoDetector, ArUcoBoard +from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoOpticCalibrator, ArUcoDetector, ArUcoBoard import cv2 as cv import numpy @@ -50,7 +50,7 @@ class TestArUcoDetectorClass(unittest.TestCase): # Check ArUcoDetector creation self.assertEqual(aruco_detector.dictionary.name, 'DICT_ARUCO_ORIGINAL') self.assertEqual(aruco_detector.marker_size, 3) - self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.camera.dimensions, [0, 0])) + self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.optic_parameters.dimensions, [0, 0])) self.assertEqual(aruco_detector.detected_markers_number, 0) self.assertEqual(aruco_detector.detected_markers, {}) @@ -60,7 +60,7 @@ class TestArUcoDetectorClass(unittest.TestCase): # Check ArUcoDetector creation self.assertEqual(aruco_detector.dictionary.name, 'DICT_APRILTAG_16h5') self.assertEqual(aruco_detector.marker_size, 5.2) - self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.camera.dimensions, [0, 0])) + self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.optic_parameters.dimensions, [0, 0])) self.assertEqual(aruco_detector.detected_markers_number, 0) self.assertEqual(aruco_detector.detected_markers, {}) @@ -77,7 +77,7 @@ class TestArUcoDetectorClass(unittest.TestCase): # Check ArUcoDetector creation self.assertEqual(aruco_detector.dictionary.name, 'DICT_ARUCO_ORIGINAL') self.assertEqual(aruco_detector.marker_size, 3) - self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.camera.dimensions, [1920, 1080])) + self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.optic_parameters.dimensions, [1920, 1080])) self.assertEqual(aruco_detector.parameters.cornerRefinementMethod, 3) self.assertEqual(aruco_detector.parameters.aprilTagQuadSigma, 2) self.assertEqual(aruco_detector.parameters.aprilTagDeglitch, 1) diff --git a/src/argaze.test/ArUcoMarkers/ArUcoOpticCalibrator.py b/src/argaze.test/ArUcoMarkers/ArUcoOpticCalibrator.py new file mode 100644 index 0000000..45b7669 --- /dev/null +++ b/src/argaze.test/ArUcoMarkers/ArUcoOpticCalibrator.py @@ -0,0 +1,52 @@ +#!/usr/bin/env python + +""" """ + +__author__ = "Théo de la Hogue" +__credits__ = [] +__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)" +__license__ = "BSD" + +import unittest +import os + +from argaze.ArUcoMarkers import ArUcoOpticCalibrator + +import numpy + +class TestOpticParametersClass(unittest.TestCase): + """Test OpticParameters class.""" + + def test_new(self): + """Test OpticParameters creation.""" + + # Check defaut optic parameters creation + optic_parameters = ArUcoOpticCalibrator.OpticParameters() + + # Check ArUco optic parameters + self.assertEqual(optic_parameters.rms, 0.0) + + #self.assertEqual(type(optic_parameters.K), numpy.array) + + self.assertIsNone(numpy.testing.assert_array_equal(optic_parameters.dimensions, [0, 0])) + self.assertIsNone(numpy.testing.assert_array_equal(optic_parameters.K, ArUcoOpticCalibrator.K0)) + self.assertIsNone(numpy.testing.assert_array_equal(optic_parameters.D, ArUcoOpticCalibrator.D0)) + + def test_from_json(self): + + # Edit optic parameters file path + current_directory = os.path.dirname(os.path.abspath(__file__)) + json_filepath = os.path.join(current_directory, 'utils/optic_parameters.json') + + # Load optic parameters + optic_parameters = ArUcoOpticCalibrator.OpticParameters.from_json(json_filepath) + + # Check ArUco camera + self.assertEqual(optic_parameters.rms, 1.0) + self.assertIsNone(numpy.testing.assert_array_equal(optic_parameters.dimensions, [1920, 1080])) + self.assertIsNone(numpy.testing.assert_array_equal(optic_parameters.K, [[1.0, 0.0, 1.0], [0.0, 1.0, 1.0], [0.0, 0.0, 1.0]])) + self.assertIsNone(numpy.testing.assert_array_equal(optic_parameters.D, [-1.0, -0.5, 0.0, 0.5, 1.0])) + +if __name__ == '__main__': + + unittest.main()
\ No newline at end of file diff --git a/src/argaze.test/ArUcoMarkers/utils/detector.json b/src/argaze.test/ArUcoMarkers/utils/detector.json index a239bf8..8aada6d 100644 --- a/src/argaze.test/ArUcoMarkers/utils/detector.json +++ b/src/argaze.test/ArUcoMarkers/utils/detector.json @@ -3,7 +3,7 @@ "name": "DICT_ARUCO_ORIGINAL" }, "marker_size": 3.0, - "camera": { + "optic_parameters": { "rms": 1.0, "dimensions": [ 1920, diff --git a/src/argaze.test/ArUcoMarkers/utils/camera.json b/src/argaze.test/ArUcoMarkers/utils/optic_parameters.json index 988731c..988731c 100644 --- a/src/argaze.test/ArUcoMarkers/utils/camera.json +++ b/src/argaze.test/ArUcoMarkers/utils/optic_parameters.json diff --git a/src/argaze.test/utils/environment.json b/src/argaze.test/utils/environment.json index 57d04cf..df1c771 100644 --- a/src/argaze.test/utils/environment.json +++ b/src/argaze.test/utils/environment.json @@ -5,7 +5,7 @@ "name": "DICT_ARUCO_ORIGINAL" }, "marker_size": 3.0, - "camera": { + "optic_parameters": { "rms": 1.0, "dimensions": [ 1920, diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py index 5899545..03f57f6 100644 --- a/src/argaze/ArFeatures.py +++ b/src/argaze/ArFeatures.py @@ -65,22 +65,22 @@ class ArEnvironment(): new_aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary(**new_detector_data.pop('dictionary')) new_marker_size = new_detector_data.pop('marker_size') - # Check aruco_camera value type - aruco_camera_value = new_detector_data.pop('camera') + # Check optic_parameters value type + optic_parameters_value = new_detector_data.pop('optic_parameters') # str: relative path to .json file - if type(aruco_camera_value) == str: + if type(optic_parameters_value) == str: - aruco_camera_value = os.path.join(working_directory, aruco_camera_value) - new_aruco_camera = ArUcoCamera.ArUcoCamera.from_json(aruco_camera_value) + optic_parameters_value = os.path.join(working_directory, optic_parameters_value) + new_optic_parameters = ArUcoOpticCalibrator.OpticParameters.from_json(optic_parameters_value) # dict: else: - new_aruco_camera = ArUcoCamera.ArUcoCamera(**aruco_camera_value) + new_optic_parameters = ArUcoOpticCalibrator.OpticParameters(**optic_parameters_value) new_aruco_detecor_parameters = ArUcoDetector.DetectorParameters(**new_detector_data.pop('parameters')) - new_aruco_detector = ArUcoDetector.ArUcoDetector(new_aruco_dictionary, new_marker_size, new_aruco_camera, new_aruco_detecor_parameters) + new_aruco_detector = ArUcoDetector.ArUcoDetector(new_aruco_dictionary, new_marker_size, new_optic_parameters, new_aruco_detecor_parameters) new_scenes = {} for scene_name, scene_data in data.pop('scenes').items(): @@ -223,7 +223,7 @@ class ArScene(): tvec = self.aoi_scene.center*[-1, 1, 0] + [0, 0, scene_size[1]] rvec = numpy.array([[-numpy.pi, 0.0, 0.0]]) - # Edit intrinsic camera parameter to capture whole scene + # Edit optic intrinsic parameter to capture whole scene K = numpy.array([[scene_size[1]/scene_size[0], 0.0, 0.5], [0.0, 1., 0.5], [0.0, 0.0, 1.0]]) return self.aoi_scene.project(tvec, rvec, K) @@ -319,7 +319,7 @@ class ArScene(): aoi_scene_copy = self.aoi_scene.copy() - aoi_scene_projection = aoi_scene_copy.project(tvec, rvec, self._environment.aruco_detector.camera.K) + aoi_scene_projection = aoi_scene_copy.project(tvec, rvec, self._environment.aruco_detector.optic_parameters.K) # Warn user when the projected scene is empty if len(aoi_scene_projection) == 0: @@ -379,7 +379,7 @@ class ArScene(): frame: where to draw """ - self.aruco_scene.draw_axis(frame, self._environment.aruco_detector.camera.K, self._environment.aruco_detector.camera.D) + self.aruco_scene.draw_axis(frame, self._environment.aruco_detector.optic_parameters.K, self._environment.aruco_detector.optic_parameters.D) def draw_places(self, frame: numpy.array): """ @@ -389,6 +389,6 @@ class ArScene(): frame: where to draw """ - self.aruco_scene.draw_places(frame, self._environment.aruco_detector.camera.K, self._environment.aruco_detector.camera.D) + self.aruco_scene.draw_places(frame, self._environment.aruco_detector.optic_parameters.K, self._environment.aruco_detector.optic_parameters.D) diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py index 4392e7a..5891f16 100644 --- a/src/argaze/ArUcoMarkers/ArUcoDetector.py +++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py @@ -12,7 +12,7 @@ from dataclasses import dataclass, field import json from collections import Counter -from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoMarker, ArUcoCamera +from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoMarker, ArUcoOpticCalibrator import numpy import cv2 as cv @@ -24,7 +24,7 @@ ArUcoMarkerDictionaryType = TypeVar('ArUcoMarkerDictionary', bound="ArUcoMarkerD ArUcoMarkerType = TypeVar('ArUcoMarker', bound="ArUcoMarker") # Type definition for type annotation convenience -ArUcoCameraType = TypeVar('ArUcoCamera', bound="ArUcoCamera") +OpticParametersType = TypeVar('OpticParameters', bound="OpticParameters") # Type definition for type annotation convenience DetectorParametersType = TypeVar('DetectorParameters', bound="DetectorParameters") @@ -127,8 +127,8 @@ class ArUcoDetector(): marker_size: float = field(default=0.) """Size of ArUco markers to detect in centimeter.""" - camera: ArUcoCamera.ArUcoCamera = field(default_factory=ArUcoCamera.ArUcoCamera) - """ArUco camera to use to setup optical parameters.""" + optic_parameters: ArUcoOpticCalibrator.OpticParameters = field(default_factory=ArUcoOpticCalibrator.OpticParameters) + """Optic parameters to use for ArUco detection into frame.""" parameters: DetectorParameters = field(default_factory=DetectorParameters) """ArUco detector parameters.""" @@ -160,18 +160,18 @@ class ArUcoDetector(): new_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary(**data.pop('dictionary')) new_marker_size = data.pop('marker_size') - new_camera = ArUcoCamera.ArUcoCamera(**data.pop('camera')) + new_optic_parameters = ArUcoOpticCalibrator.OpticParameters(**data.pop('optic_parameters')) new_parameters = DetectorParameters(**data.pop('parameters')) - return ArUcoDetector(new_dictionary, new_marker_size, new_camera, new_parameters) + return ArUcoDetector(new_dictionary, new_marker_size, new_optic_parameters, new_parameters) def __str__(self) -> str: """String display""" output = f'\n\tDictionary: {self.dictionary}\n' output += f'\tMarker size: {self.marker_size} cm\n\n' - output += f'\tCamera:\n{self.camera}\n' - output += f'\tParameters:\n{self.parameters}' + output += f'\tOptic parameters:\n{self.optic_parameters}\n' + output += f'\tDetection Parameters:\n{self.parameters}' return output @@ -240,7 +240,7 @@ class ArUcoDetector(): # Estimate pose of selected markers if len(selected_markers_corners) > 0: - markers_rvecs, markers_tvecs, markers_points = aruco.estimatePoseSingleMarkers(selected_markers_corners, self.marker_size, numpy.array(self.camera.K), numpy.array(self.camera.D)) + markers_rvecs, markers_tvecs, markers_points = aruco.estimatePoseSingleMarkers(selected_markers_corners, self.marker_size, numpy.array(self.optic_parameters.K), numpy.array(self.optic_parameters.D)) for i, marker_id in enumerate(selected_markers_ids): @@ -267,7 +267,7 @@ class ArUcoDetector(): for marker_id, marker in self.__detected_markers.items(): - marker.draw(frame, self.camera.K, self.camera.D) + marker.draw(frame, self.optic_parameters.K, self.optic_parameters.D) def detect_board(self, frame: numpy.array, board, expected_markers_number): """Detect ArUco markers board in frame setting up the number of detected markers needed to agree detection. diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoOpticCalibrator.py index 205c591..ed33c95 100644 --- a/src/argaze/ArUcoMarkers/ArUcoCamera.py +++ b/src/argaze/ArUcoMarkers/ArUcoOpticCalibrator.py @@ -17,14 +17,14 @@ import cv2 import cv2.aruco as aruco K0 = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 0.]]) -"""Define default camera intrinsic parameters matrix.""" +"""Define default optic intrinsic parameters matrix.""" D0 = numpy.array([0.0, 0.0, 0.0, 0.0, 0.0]) -"""Define default camera distorsion coefficients vector.""" +"""Define default optic distorsion coefficients vector.""" @dataclass -class CalibrationData(): - """Define optical camera calibration data.""" +class OpticParameters(): + """Define optic parameters outputed by optic calibrator.""" rms: float = field(default=0) """Root Mean Square error of calibration.""" @@ -44,7 +44,7 @@ class CalibrationData(): with open(json_filepath) as calibration_file: - return CalibrationData(**json.load(calibration_file)) + return OpticParameters(**json.load(calibration_file)) def to_json(self, json_filepath): """Save optical parameters into .json file.""" @@ -84,24 +84,31 @@ class CalibrationData(): except: pass -class ArUcoCamera(CalibrationData): - """Handle camera calibration process.""" +class ArUcoOpticCalibrator(): + """Handle optic calibration process.""" - def __init__(self, **kwargs): - - super().__init__(**kwargs) + def __init__(self,): # Calibration data self.__corners_set_number = 0 self.__corners_set = [] self.__corners_set_ids = [] - def calibrate(self, board): - """Retrieve camera K and D from stored calibration data.""" + def calibrate(self, board, dimensions:tuple = (0, 0)) -> OpticParameters: + """Retrieve K and D parameters from stored calibration data. + + Parameters: + dimensions: camera frame dimensions + + Returns: + Optic parameters + """ if self.__corners_set_number > 0: - self.rms, self.K, self.D, r, t = aruco.calibrateCameraCharuco(self.__corners_set, self.__corners_set_ids, board.model, self.dimensions, None, None) + rms, K, D, r, t = aruco.calibrateCameraCharuco(self.__corners_set, self.__corners_set_ids, board.model, dimensions, None, None) + + return OpticParameters(rms, dimensions, K, D) def reset_calibration_data(self): """Clear all calibration data.""" diff --git a/src/argaze/ArUcoMarkers/ArUcoScene.py b/src/argaze/ArUcoMarkers/ArUcoScene.py index 672e31c..85c3fbf 100644 --- a/src/argaze/ArUcoMarkers/ArUcoScene.py +++ b/src/argaze/ArUcoMarkers/ArUcoScene.py @@ -14,7 +14,7 @@ import math import itertools import re -from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoMarker, ArUcoCamera +from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoMarker, ArUcoOpticCalibrator import numpy import cv2 as cv diff --git a/src/argaze/ArUcoMarkers/__init__.py b/src/argaze/ArUcoMarkers/__init__.py index ac1bee4..350c69e 100644 --- a/src/argaze/ArUcoMarkers/__init__.py +++ b/src/argaze/ArUcoMarkers/__init__.py @@ -1,4 +1,4 @@ """ Handle [OpenCV ArUco markers](https://docs.opencv.org/4.x/d5/dae/tutorial_aruco_detection.html): generate and detect markers, calibrate camera, describe scene, ... """ -__all__ = ['ArUcoMarkersDictionary', 'ArUcoMarker', 'ArUcoBoard', 'ArUcoCamera', 'ArUcoDetector', 'ArUcoScene', 'utils']
\ No newline at end of file +__all__ = ['ArUcoMarkersDictionary', 'ArUcoMarker', 'ArUcoBoard', 'ArUcoOpticCalibrator', 'ArUcoDetector', 'ArUcoScene', 'utils']
\ No newline at end of file diff --git a/src/argaze/AreaOfInterest/AOI3DScene.py b/src/argaze/AreaOfInterest/AOI3DScene.py index dbb0424..2272206 100644 --- a/src/argaze/AreaOfInterest/AOI3DScene.py +++ b/src/argaze/AreaOfInterest/AOI3DScene.py @@ -24,10 +24,10 @@ R0 = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]) """Define no rotation matrix.""" K0 = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 0.]]) -"""Define default camera intrinsic parameters matrix.""" +"""Define default optic intrinsic parameters matrix.""" D0 = numpy.array([0.0, 0.0, 0.0, 0.0, 0.0]) -"""Define default camera distorsion coefficients vector.""" +"""Define default optic distorsion coefficients vector.""" AOI3DSceneType = TypeVar('AOI3DScene', bound="AOI3DScene") # Type definition for type annotation convenience diff --git a/src/argaze/utils/camera_calibrate.py b/src/argaze/utils/camera_calibrate.py index b590767..c42b721 100644 --- a/src/argaze/utils/camera_calibrate.py +++ b/src/argaze/utils/camera_calibrate.py @@ -11,23 +11,23 @@ import argparse import os import time -from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoBoard, ArUcoDetector, ArUcoCamera +from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoBoard, ArUcoDetector, ArUcoOpticCalibrator import cv2 def main(): """ - Captures board pictures and finally outputs camera calibration data into a calibration.json file. + Captures board pictures and finally outputs optic parameter into a calibration.json file. - Export and print a calibration board using aruco_calibration_board_export.py script. - Place the calibration board face to the camera. - Move the calibration board in a manner to view it entirely on screen in various configurations (orientation and distance): The script will automatically take pictures. Do this step with a good lighting and a clear background. - - Once enough pictures have been captured (~20), press Esc key then, wait for the camera calibration processing. + - Once enough pictures have been captured (~20), press Esc key then, wait for optic parameters processing. - Finally, check rms parameter: it should be between 0. and 1. if the calibration succeeded (lower is better). ### Reference: - - [Camera calibration using ArUco marker tutorial](https://automaticaddison.com/how-to-perform-camera-calibration-using-opencv/) + - [Optic calibration using ArUco marker tutorial](https://automaticaddison.com/how-to-perform-camera-calibration-using-opencv/) """ # Manage arguments @@ -48,8 +48,8 @@ def main(): frame_width = int(video_capture.get(cv2.CAP_PROP_FRAME_WIDTH)) frame_height = int(video_capture.get(cv2.CAP_PROP_FRAME_HEIGHT)) - # Create aruco camera - aruco_camera = ArUcoCamera.ArUcoCamera(dimensions=(frame_width, frame_height)) + # Create aruco optic calibrator + aruco_optic_calibrator = ArUcoOpticCalibrator.ArUcoOpticCalibrator() # Create aruco board aruco_board = ArUcoBoard.ArUcoBoard(args.columns, args.rows, args.square_size, args.marker_size, args.dictionary) @@ -57,7 +57,7 @@ def main(): # Create aruco detector aruco_detector = ArUcoDetector.ArUcoDetector(dictionary=args.dictionary, marker_size=args.marker_size) - print(f'{aruco_camera.dimensions[0]}x{aruco_camera.dimensions[1]} pixels camera calibration starts') + print(f'{frame_width}x{frame_height} pixels camera calibration starts') print("Waiting for calibration board...") expected_markers_number = aruco_board.markers_number @@ -80,8 +80,8 @@ def main(): aruco_detector.draw_detected_markers(video_frame) # Draw current calibration data count - cv2.putText(video_frame, f'Capture: {aruco_camera.calibration_data_count}', (50, 50), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2, cv2.LINE_AA) - cv2.imshow('Camera Calibration', video_frame) + cv2.putText(video_frame, f'Capture: {aruco_optic_calibrator.calibration_data_count}', (50, 50), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2, cv2.LINE_AA) + cv2.imshow('Optic Calibration', video_frame) # If all board corners are detected if aruco_detector.board_corners_number == expected_corners_number: @@ -90,9 +90,9 @@ def main(): aruco_detector.draw_board(video_frame) # Append calibration data - aruco_camera.store_calibration_data(aruco_detector.board_corners, aruco_detector.board_corners_identifier) + aruco_optic_calibrator.store_calibration_data(aruco_detector.board_corners, aruco_detector.board_corners_identifier) - cv2.imshow('Camera Calibration', video_frame) + cv2.imshow('Optic Calibration', video_frame) # Stop calibration by pressing 'Esc' key if cv2.waitKey(1) == 27: @@ -106,17 +106,24 @@ def main(): cv2.destroyAllWindows() print('\nCalibrating camera...') - aruco_camera.calibrate(aruco_board) + optic_parameters = aruco_optic_calibrator.calibrate(aruco_board, dimensions=(frame_width, frame_height)) - print('\nCalibration succeeded!') - print(f'\nRMS:\n{aruco_camera.rms}') - print(f'\nDimensions:\n{frame_width}x{frame_height}') - print(f'\nCamera matrix:\n{aruco_camera.K}') - print(f'\nDistortion coefficients:\n{aruco_camera.D}') + if optic_parameters: - aruco_camera.to_json(f'{args.output}/calibration.json') + print('\nCalibration succeeded!') - print(f'\ncalibration.json file exported into {args.output} folder') + print(f'\nRMS:\n{optic_parameters.rms}') + print(f'\nDimensions:\n{optic_parameters.dimensions[0]}x{optic_parameters.dimensions[1]}') + print(f'\nCamera matrix:\n{optic_parameters.K}') + print(f'\nDistortion coefficients:\n{optic_parameters.D}') + + optic_parameters.to_json(f'{args.output}/optic_parameters.json') + + print(f'\ncalibration.json file exported into {args.output} folder') + + else: + + print('\nCalibration error.') if __name__ == '__main__': diff --git a/src/argaze/utils/demo_environment/setup.json b/src/argaze/utils/demo_environment/setup.json index d67b53f..58c7c0d 100644 --- a/src/argaze/utils/demo_environment/setup.json +++ b/src/argaze/utils/demo_environment/setup.json @@ -5,7 +5,7 @@ "name": "DICT_APRILTAG_16h5" }, "marker_size": 5, - "camera": "calibration.json", + "optic_parameters": "optic_parameters.json", "parameters": { "cornerRefinementMethod": 1, "aprilTagQuadSigma": 2, diff --git a/src/argaze/utils/demo_heatmap_run.py b/src/argaze/utils/demo_heatmap_run.py index 3e6bb63..df98d33 100644 --- a/src/argaze/utils/demo_heatmap_run.py +++ b/src/argaze/utils/demo_heatmap_run.py @@ -31,7 +31,7 @@ def main(): cv2.imshow(window_name, aoi_frame.heatmap) - # Stop calibration by pressing 'Esc' key + # Stop and save picture by pressing 'Esc' key if cv2.waitKey(10) == 27: current_directory = os.path.dirname(os.path.abspath(__file__)) diff --git a/src/argaze/utils/environment_edit.py b/src/argaze/utils/environment_edit.py index 4fab715..7b6c2fd 100644 --- a/src/argaze/utils/environment_edit.py +++ b/src/argaze/utils/environment_edit.py @@ -164,7 +164,7 @@ def main(): if draw_grid: cv2.putText(video_frame, f'Grid at {z_grid} cm', (500, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA) - ar_environment.aruco_detector.camera.draw(video_frame, frame_width/10, frame_height/10, z_grid, color=(127, 127, 127)) + ar_environment.aruco_detector.optic_parameters.draw(video_frame, frame_width/10, frame_height/10, z_grid, color=(127, 127, 127)) # Write timing cv2.putText(video_frame, f'Time: {int(current_frame_time)} ms', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA) |