diff options
Diffstat (limited to 'src/argaze/ArUcoMarkers/ArUcoBoard.py')
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoBoard.py | 49 |
1 files changed, 14 insertions, 35 deletions
diff --git a/src/argaze/ArUcoMarkers/ArUcoBoard.py b/src/argaze/ArUcoMarkers/ArUcoBoard.py index ce4abd8..de50363 100644 --- a/src/argaze/ArUcoMarkers/ArUcoBoard.py +++ b/src/argaze/ArUcoMarkers/ArUcoBoard.py @@ -1,47 +1,19 @@ #!/usr/bin/env python +from argaze.ArUcoMarkers import ArUcoMarkersDictionary + import numpy import cv2 as cv import cv2.aruco as aruco -# Built-in ArUco dictionaries from OpenCV library -ARUCO_DICT = { - 'DICT_4X4_50': aruco.DICT_4X4_50, - 'DICT_4X4_100': aruco.DICT_4X4_100, - 'DICT_4X4_250': aruco.DICT_4X4_250, - 'DICT_4X4_1000': aruco.DICT_4X4_1000, - 'DICT_5X5_50': aruco.DICT_5X5_50, - 'DICT_5X5_100': aruco.DICT_5X5_100, - 'DICT_5X5_250': aruco.DICT_5X5_250, - 'DICT_5X5_1000': aruco.DICT_5X5_1000, - 'DICT_6X6_50': aruco.DICT_6X6_50, - 'DICT_6X6_100': aruco.DICT_6X6_100, - 'DICT_6X6_250': aruco.DICT_6X6_250, - 'DICT_6X6_1000': aruco.DICT_6X6_1000, - 'DICT_7X7_50': aruco.DICT_7X7_50, - 'DICT_7X7_100': aruco.DICT_7X7_100, - 'DICT_7X7_250': aruco.DICT_7X7_250, - 'DICT_7X7_1000': aruco.DICT_7X7_1000, - 'DICT_ARUCO_ORIGINAL': aruco.DICT_ARUCO_ORIGINAL -} - class ArUcoBoard(): """Calibration chess board with ArUco markers inside.""" def __init__(self, aruco_dictionary_name: str, columns: int, rows: int, square_size: float, marker_size: float): """Create columnsxrows chess board with ArUco markers type at given sizes in centimeters.""" - # check aruco dictionary name - if ARUCO_DICT.get(aruco_dictionary_name, None) is None: - raise NameError(f'Bad ArUco dictionnary name: {aruco_dictionary_name}') - - dict_name_split = aruco_dictionary_name.split('_') - - self.__aruco_dict_format = dict_name_split[1] - self.__aruco_dict_number = int(dict_name_split[2]) - - # load ArUco dictionary - self.__aruco_dict = aruco.Dictionary_get(ARUCO_DICT[aruco_dictionary_name]) + # load ArUco markers dictionary + self.__aruco_dict = ArUcoMarkersDictionary.ArUcoMarkersDictionary(aruco_dictionary_name) # store property self.__columns = columns @@ -50,7 +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) + self.__board = aruco.CharucoBoard_create(self.__columns, self.__rows, self.__square_size/100., self.__marker_size/100., self.__aruco_dict.get_markers()) def __del__(self): pass @@ -65,13 +37,20 @@ class ArUcoBoard(): def get_size(self): """Get numbers of columns and rows.""" - return self.__board.getChessboardSize() + def get_markers_number(self): + """Get number of markers.""" + return len(self.__board.ids) + + def get_corners_number(self): + """Get number of corners.""" + return (self.__board.getChessboardSize()[0] - 1 ) * (self.__board.getChessboardSize()()[1] - 1) + def export(self, destination_folder: str, dpi: int): """Save a picture of the calibration board.""" - output_filename = f'board_{self.__columns*self.__square_size}cmx{self.__rows*self.__square_size}cm_markers_{self.__aruco_dict_format}_{self.__marker_size}cm.png' + output_filename = f'board_{self.__columns*self.__square_size}cmx{self.__rows*self.__square_size}cm_markers_{self.__aruco_dict.get_markers_format()}_{self.__marker_size}cm.png' dimension = [int(e * self.__board.getSquareLength() * 254 * dpi) for e in self.__board.getChessboardSize()] # 1 meter = 254 inches |