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#!/usr/bin/env python
""" """
__author__ = "Théo de la Hogue"
__credits__ = []
__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
__license__ = "BSD"
from dataclasses import dataclass, field
from argaze import DataStructures
import json
import numpy
import cv2
import cv2.aruco as aruco
def K0(focal_length: tuple, width: int, height: int) -> numpy.array:
"""Define default optic intrinsic parameters matrix.
Parameters:
width: in pixel.
height: in pixel.
"""
return numpy.array([[focal_length[0], 0., width/2], [0., focal_length[1], height/2], [0., 0., 1.]])
D0 = numpy.array([0.0, 0.0, 0.0, 0.0, 0.0])
"""Define default optic distorsion coefficients vector."""
@dataclass
class OpticParameters():
"""Define optic parameters outputed by optic calibrator."""
rms: float = field(default=0)
"""Root Mean Square error of calibration."""
dimensions: numpy.array = field(default_factory=lambda : numpy.array([0, 0]))
"""Image dimensions in pixels from which the calibration have been done."""
K: numpy.array = field(default_factory=lambda : K0((0, 0), 0, 0))
"""Intrinsic parameters matrix (focal lengths and principal point)."""
D: numpy.array = field(default_factory=lambda : D0)
"""Distorsion coefficients vector."""
@classmethod
def from_json(self, json_filepath):
"""Load optical parameters from .json file."""
with open(json_filepath) as calibration_file:
return OpticParameters(**json.load(calibration_file))
def to_json(self, json_filepath):
"""Save optical parameters into .json file."""
with open(json_filepath, 'w', encoding='utf-8') as calibration_file:
json.dump(self, calibration_file, ensure_ascii=False, indent=4, cls=DataStructures.JsonEncoder)
def __str__(self) -> str:
"""String display"""
output = f'\trms: {self.rms}\n'
output += f'\tdimensions: {self.dimensions}\n'
output += f'\tK: {self.K}\n'
output += f'\tD: {self.D}\n'
return output
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"""
if width * height > 0.:
# 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])
# 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))
# 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."""
def __init__(self,):
# Calibration data
self.__corners_set_number = 0
self.__corners_set = []
self.__corners_set_ids = []
def calibrate(self, board, dimensions:tuple = (0, 0)) -> OpticParameters:
"""Retrieve K and D parameters from stored calibration data.
Parameters:
dimensions: camera image dimensions
Returns:
Optic parameters
"""
if self.__corners_set_number > 0:
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."""
self.__corners_set_number = 0
self.__corners_set = []
self.__corners_set_ids = []
def store_calibration_data(self, corners, corners_identifiers):
"""Store calibration data."""
self.__corners_set_number += 1
self.__corners_set.append(corners)
self.__corners_set_ids.append(corners_identifiers)
@property
def calibration_data_count(self) -> int:
"""Get how much calibration data are stored."""
return self.__corners_set_number
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