1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
|
#!/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
|