diff options
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoBoard.py | 8 | ||||
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoCamera.py | 17 | ||||
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoMarker.py | 2 | ||||
| -rw-r--r-- | src/argaze/utils/tobii_camera_calibrate.py | 8 |
4 files changed, 19 insertions, 16 deletions
diff --git a/src/argaze/ArUcoMarkers/ArUcoBoard.py b/src/argaze/ArUcoMarkers/ArUcoBoard.py index f51a238..2fa3da7 100644 --- a/src/argaze/ArUcoMarkers/ArUcoBoard.py +++ b/src/argaze/ArUcoMarkers/ArUcoBoard.py @@ -22,7 +22,7 @@ class ArUcoBoard(): self.__marker_size = marker_size # in cm # Create board model - self.__board = aruco.CharucoBoard_create(self.__columns, self.__rows, self.__square_size/100., self.__marker_size/100., self.__aruco_dict.markers) + self.__board = aruco.CharucoBoard((self.__columns, self.__rows), self.__square_size/100., self.__marker_size/100., self.__aruco_dict.markers) def __del__(self): pass @@ -37,7 +37,7 @@ class ArUcoBoard(): def identifiers(self) -> list[int]: """Get board markers identifiers.""" - return self.__board.ids + return self.__board.getIds() @property def size(self)-> int: @@ -49,7 +49,7 @@ class ArUcoBoard(): def markers_number(self) -> int: """Get number of markers.""" - return len(self.__board.ids) + return len(self.__board.getIds()) @property def corners_number(self) -> int: @@ -64,5 +64,5 @@ class ArUcoBoard(): dimension = [round(d * self.__board.getSquareLength() * 100 * dpi / 2.54) for d in self.__board.getChessboardSize()] # 1 cm = 2.54 inches - cv.imwrite(f'{destination_folder}/{output_filename}', self.__board.draw(dimension)) + cv.imwrite(f'{destination_folder}/{output_filename}', self.__board.generateImage(dimension)) diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py index b2e4614..97436e9 100644 --- a/src/argaze/ArUcoMarkers/ArUcoCamera.py +++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py @@ -2,6 +2,8 @@ from dataclasses import dataclass, field +from argaze import DataStructures + import json import numpy import cv2.aruco as aruco @@ -12,20 +14,20 @@ K0 = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 0.]]) D0 = numpy.array([0.0, 0.0, 0.0, 0.0, 0.0]) """Define default camera distorsion coefficients vector.""" -@dataclass(frozen=True) +@dataclass class CalibrationData(): """Define optical camera calibration data.""" rms: float = field(default=0) """Root Mean Square error of calibration.""" - dimensions: numpy.array = field(default_factory=numpy.array([0, 0])) + dimensions: numpy.array = field(default_factory=lambda : numpy.array([0, 0])) """Frame dimensions in pixels from which the calibration have been done.""" - K: numpy.array = field(default_factory=K0) + K: numpy.array = field(default_factory=lambda : K0) """Intrinsic parameters matrix (focal lengths and principal point).""" - D: numpy.array = field(default_factory=D0) + D: numpy.array = field(default_factory=lambda : D0) """Distorsion coefficients vector.""" @classmethod @@ -41,7 +43,7 @@ class CalibrationData(): with open(json_filepath, 'w', encoding='utf-8') as calibration_file: - json.dump(self, calibration_file, ensure_ascii=False, indent=4) + json.dump(self, calibration_file, ensure_ascii=False, indent=4, cls=DataStructures.JsonEncoder) def __str__(self) -> str: """String display""" @@ -65,13 +67,12 @@ class ArUcoCamera(CalibrationData): self.__corners_set = [] self.__corners_set_ids = [] - def calibrate(self, board, frame_width, frame_height): + def calibrate(self, board): """Retrieve camera K and D from stored calibration data.""" if self.__corners_set_number > 0: - self.__dimensions = [frame_width, frame_height] - self.__rms, self.__K, self.__D, r, t = aruco.calibrateCameraCharuco(self.__corners_set, self.__corners_set_ids, board.model, self.__dimensions, None, None) + self.rms, self.K, self.D, r, t = aruco.calibrateCameraCharuco(self.__corners_set, self.__corners_set_ids, board.model, self.dimensions, None, None) def reset_calibration_data(self): """Clear all calibration data.""" diff --git a/src/argaze/ArUcoMarkers/ArUcoMarker.py b/src/argaze/ArUcoMarkers/ArUcoMarker.py index df82523..8f7538d 100644 --- a/src/argaze/ArUcoMarkers/ArUcoMarker.py +++ b/src/argaze/ArUcoMarkers/ArUcoMarker.py @@ -45,7 +45,7 @@ class ArUcoMarker(): dimension = round(self.size * dpi / 2.54) # 1 cm = 2.54 inches matrix = numpy.zeros((dimension, dimension, 1), dtype="uint8") - aruco.drawMarker(self.dictionary.markers, self.identifier, dimension, matrix, 1) + aruco.generateImageMarker(self.dictionary.markers, self.identifier, dimension, matrix, 1) return numpy.repeat(matrix, 3).reshape(dimension, dimension, 3) diff --git a/src/argaze/utils/tobii_camera_calibrate.py b/src/argaze/utils/tobii_camera_calibrate.py index f19cb8b..6d682ed 100644 --- a/src/argaze/utils/tobii_camera_calibrate.py +++ b/src/argaze/utils/tobii_camera_calibrate.py @@ -53,7 +53,7 @@ def main(): video_width = tobii_controller.get_configuration()['sys_sc_width'] video_height = tobii_controller.get_configuration()['sys_sc_height'] - # Print current confirugration + # Print current confirguration print(f'Tobii Glasses Pro 2 configuration:') for key, value in tobii_controller.get_configuration().items(): print(f'\t{key}: {value}') @@ -62,7 +62,9 @@ def main(): tobii_video_stream = tobii_controller.enable_video_stream() # Create aruco camera - aruco_camera = ArUcoCamera.ArUcoCamera() + aruco_camera = ArUcoCamera.ArUcoCamera(dimensions=(video_width, video_height)) + + print('aruco_camera.dimensions: ', aruco_camera.dimensions) # Create aruco board aruco_board = ArUcoBoard.ArUcoBoard(args.dictionary, args.columns, args.rows, args.square_size, args.marker_size) @@ -124,7 +126,7 @@ def main(): tobii_controller.stop_streaming() print('\nCalibrating camera...') - aruco_camera.calibrate(aruco_board, video_width, video_height) + aruco_camera.calibrate(aruco_board) print('\nCalibration succeeded!') print(f'\nRMS:\n{aruco_camera.rms}') |