diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoCamera.py | 8 | ||||
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoOpticCalibrator.py | 35 |
2 files changed, 27 insertions, 16 deletions
diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py index 5efc4f8..43a7cf5 100644 --- a/src/argaze/ArUcoMarkers/ArUcoCamera.py +++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py @@ -210,11 +210,12 @@ class ArUcoCamera(ArFeatures.ArCamera): # Return dection time and exceptions return detection_time, exceptions - def __image(self, draw_detected_markers: dict = None, **kwargs) -> numpy.array: + def __image(self, draw_detected_markers: dict = None, draw_optic_parameters_grid: dict = None, **kwargs) -> numpy.array: """Get frame image with ArUco detection visualisation. Parameters: draw_detected_markers: ArucoMarker.draw parameters (if None, no marker drawn) + draw_optic_parameters_grid: OpticParameter.draw parameters (if None, no grid drawn) kwargs: ArCamera.image parameters """ @@ -233,6 +234,11 @@ class ArUcoCamera(ArFeatures.ArCamera): self.aruco_detector.draw_detected_markers(image, draw_detected_markers) + # Draw optic parameters grid if required + if draw_optic_parameters_grid is not None: + + self.aruco_detector.optic_parameters.draw(image, **draw_optic_parameters_grid) + # Unlock camera frame exploitation self._frame_lock.release() diff --git a/src/argaze/ArUcoMarkers/ArUcoOpticCalibrator.py b/src/argaze/ArUcoMarkers/ArUcoOpticCalibrator.py index ec55e44..257b877 100644 --- a/src/argaze/ArUcoMarkers/ArUcoOpticCalibrator.py +++ b/src/argaze/ArUcoMarkers/ArUcoOpticCalibrator.py @@ -63,26 +63,31 @@ class OpticParameters(): return output - def draw(self, image: numpy.array, width:float, height:float, z:float, color=(0, 0, 255)): + def draw(self, image: numpy.array, width: float = 0., height:float = 0., z: float = 0., point_size: int = 1, point_color: tuple = (0, 0, 0)): """Draw grid to display K and D""" - # Edit 3D grid - grid_3D = [] - for x in range(-int(width/2), int(width/2)): - for y in range(-int(height/2), int(height/2)): - grid_3D.append([x, y, z]) + if width * height > 0.: - # Project 3d grid - grid_2D, _ = cv2.projectPoints(numpy.array(grid_3D).astype(float), numpy.array([0., 0., 0.]), numpy.array([0., 0., 0.]), numpy.array(self.K), -numpy.array(self.D)) + # Edit 3D grid + grid_3D = [] + for x in range(-int(width/2), int(width/2)): + for y in range(-int(height/2), int(height/2)): + grid_3D.append([x, y, z]) - # Draw projection - for point in grid_2D: + # Project 3d grid + grid_2D, _ = cv2.projectPoints(numpy.array(grid_3D).astype(float), numpy.array([0., 0., 0.]), numpy.array([0., 0., 0.]), numpy.array(self.K), -numpy.array(self.D)) - # Ignore point out out field - try: - cv2.circle(image, point.astype(int)[0], 1, color, -1) - except: - pass + # Draw projection + for point in grid_2D: + + # Ignore point out out field + try: + + cv2.circle(image, point.astype(int)[0], point_size, point_color, -1) + + except: + + pass class ArUcoOpticCalibrator(): """Handle optic calibration process.""" |