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"""Calibration chess board with ArUco markers inside.
This program is free software: you can redistribute it and/or modify it under
the terms of the GNU General Public License as published by the Free Software
Foundation, either version 3 of the License, or (at your option) any later
version.
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with
this program. If not, see <https://www.gnu.org/licenses/>.
"""
__author__ = "Théo de la Hogue"
__credits__ = []
__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
__license__ = "GPLv3"
from dataclasses import dataclass, field
from typing import Sequence
import cv2 as cv
import cv2.aruco as aruco
from argaze.ArUcoMarkers import ArUcoMarkersDictionary
@dataclass
class ArUcoBoard():
""" """
columns: int = field(default=0)
"""Number of columns."""
rows: int = field(default=0)
"""Number of rows."""
square_size: float = field(default=0.)
"""Size of board square in centimeter."""
marker_size: float = field(default=0.)
"""Size of ArUco markers inside board squares in centimeter."""
dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary = field(default_factory=ArUcoMarkersDictionary.ArUcoMarkersDictionary)
"""ArUco markers dictionary."""
def __post_init__(self):
# Create board model
self.model = aruco.CharucoBoard((self.columns, self.rows), self.square_size/100., self.marker_size/100., self.dictionary.markers)
@property
def identifiers(self) -> Sequence[int]:
"""Get board markers identifiers."""
return self.model.getIds()
@property
def size(self) -> Sequence[int]:
"""Get numbers of columns and rows."""
return self.model.getChessboardSize()
@property
def markers_number(self) -> int:
"""Get number of markers."""
return len(self.model.getIds())
@property
def corners_number(self) -> int:
"""Get number of corners."""
return (self.model.getChessboardSize()[0] - 1 ) * (self.model.getChessboardSize()[1] - 1)
def save(self, filepath: str, dpi: int):
"""Save calibration board picture at a given resolution."""
dimension = [round(d * self.model.getSquareLength() * 100 * dpi / 2.54) for d in self.model.getChessboardSize()] # 1 cm = 2.54 inches
cv.imwrite(filepath, self.model.generateImage(dimension))
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