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Merge pull request #23363 from vovka643:4.x_generate_charuco

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Added charuco board generation to gen_pattern.py #23363

added charuco board generation in gen_pattern.py
moved aruco_dict_utils.cpp to samples from opencv_contrib (https://github.com/opencv/opencv_contrib/pull/3464)

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake
This commit is contained in:
Vladimir Ponomarev
2023-05-19 20:25:59 +03:00
committed by GitHub
parent f2311d1bfd
commit 9931da772d
29 changed files with 629 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/pattern_tools/gen_pattern.py
+85 -7
View File
@@ -6,7 +6,7 @@ python gen_pattern.py -o out.svg -r 11 -c 8 -T circles -s 20.0 -R 5.0 -u mm -w 2
-o, --output - output file (default out.svg)
-r, --rows - pattern rows (default 11)
-c, --columns - pattern columns (default 8)
-T, --type - type of pattern, circles, acircles, checkerboard, radon_checkerboard (default circles)
-T, --type - type of pattern: circles, acircles, checkerboard, radon_checkerboard, charuco_board. default circles.
-s, --square_size - size of squares in pattern (default 20.0)
-R, --radius_rate - circles_radius = square_size/radius_rate (default 5.0)
-u, --units - mm, inches, px, m (default mm)
@@ -14,16 +14,20 @@ python gen_pattern.py -o out.svg -r 11 -c 8 -T circles -s 20.0 -R 5.0 -u mm -w 2
-h, --page_height - page height in units (default 279)
-a, --page_size - page size (default A4), supersedes -h -w arguments
-m, --markers - list of cells with markers for the radon checkerboard
-p, --aruco_marker_size - aruco markers size for ChAruco pattern (default 10.0)
-f, --dict_file - file name of custom aruco dictionary for ChAruco pattern
-H, --help - show help
"""
import argparse
import numpy as np
import json
import gzip
from svgfig import *
class PatternMaker:
def __init__(self, cols, rows, output, units, square_size, radius_rate, page_width, page_height, markers):
def __init__(self, cols, rows, output, units, square_size, radius_rate, page_width, page_height, markers, aruco_marker_size, dict_file):
self.cols = cols
self.rows = rows
self.output = output
@@ -33,6 +37,9 @@ class PatternMaker:
self.width = page_width
self.height = page_height
self.markers = markers
self.aruco_marker_size = aruco_marker_size #for charuco boards only
self.dict_file = dict_file
self.g = SVG("g") # the svg group container
def make_circles_pattern(self):
@@ -124,7 +131,7 @@ class PatternMaker:
height=spacing, fill="black", stroke="none")
else:
square = SVG("path", d=self._make_round_rect(x * spacing + xspacing, y * spacing + yspacing,
spacing, corner_types), fill="black", stroke="none")
spacing, corner_types), fill="black", stroke="none")
self.g.append(square)
if self.markers is not None:
r = self.square_size * 0.17
@@ -140,6 +147,69 @@ class PatternMaker:
cy=(y * spacing) + y_spacing + r, r=r, fill=color, stroke="none")
self.g.append(dot)
@staticmethod
def _create_marker_bits(markerSize_bits, byteList):
marker = np.zeros((markerSize_bits+2, markerSize_bits+2))
bits = marker[1:markerSize_bits+1, 1:markerSize_bits+1]
for i in range(markerSize_bits):
for j in range(markerSize_bits):
bits[i][j] = int(byteList[i*markerSize_bits+j])
return marker
def make_charuco_board(self):
if (self.aruco_marker_size>self.square_size):
print("Error: Aruco marker cannot be lager than chessboard square!")
return
if (self.dict_file.split(".")[-1] == "gz"):
with gzip.open(self.dict_file, 'r') as fin:
json_bytes = fin.read()
json_str = json_bytes.decode('utf-8')
dictionary = json.loads(json_str)
else:
f = open(self.dict_file)
dictionary = json.load(f)
if (dictionary["nmarkers"] < int(self.cols*self.rows/2)):
print("Error: Aruco dictionary contains less markers than it needs for chosen board. Please choose another dictionary or use smaller board than required for chosen board")
return
markerSize_bits = dictionary["markersize"]
side = self.aruco_marker_size / (markerSize_bits+2)
spacing = self.square_size
xspacing = (self.width - self.cols * self.square_size) / 2.0
yspacing = (self.height - self.rows * self.square_size) / 2.0
ch_ar_border = (self.square_size - self.aruco_marker_size)/2
marker_id = 0
for y in range(0, self.rows):
for x in range(0, self.cols):
if x % 2 == y % 2:
square = SVG("rect", x=x * spacing + xspacing, y=y * spacing + yspacing, width=spacing,
height=spacing, fill="black", stroke="none")
self.g.append(square)
else:
img_mark = self._create_marker_bits(markerSize_bits, dictionary["marker_"+str(marker_id)])
marker_id +=1
x_pos = x * spacing + xspacing
y_pos = y * spacing + yspacing
square = SVG("rect", x=x_pos+ch_ar_border, y=y_pos+ch_ar_border, width=self.aruco_marker_size,
height=self.aruco_marker_size, fill="black", stroke="none")
self.g.append(square)
for x_ in range(len(img_mark[0])):
for y_ in range(len(img_mark)):
if (img_mark[y_][x_] != 0):
square = SVG("rect", x=x_pos+ch_ar_border+(x_)*side, y=y_pos+ch_ar_border+(y_)*side, width=side,
height=side, fill="white", stroke="white", stroke_width = spacing*0.01)
self.g.append(square)
def save(self):
c = canvas(self.g, width="%d%s" % (self.width, self.units), height="%d%s" % (self.height, self.units),
viewBox="0 0 %d %d" % (self.width, self.height))
@@ -155,7 +225,7 @@ def main():
type=int)
parser.add_argument("-r", "--rows", help="pattern rows", default="11", action="store", dest="rows", type=int)
parser.add_argument("-T", "--type", help="type of pattern", default="circles", action="store", dest="p_type",
choices=["circles", "acircles", "checkerboard", "radon_checkerboard"])
choices=["circles", "acircles", "checkerboard", "radon_checkerboard", "charuco_board"])
parser.add_argument("-u", "--units", help="length unit", default="mm", action="store", dest="units",
choices=["mm", "inches", "px", "m"])
parser.add_argument("-s", "--square_size", help="size of squares in pattern", default="20.0", action="store",
@@ -172,6 +242,10 @@ def main():
"coordinates as list of numbers: -m 1 2 3 4 means markers in cells "
"[1, 2] and [3, 4]",
default=argparse.SUPPRESS, action="store", dest="markers", nargs="+", type=int)
parser.add_argument("-p", "--marker_size", help="aruco markers size for ChAruco pattern (default 10.0)", default="10.0",
action="store", dest="aruco_marker_size", type=float)
parser.add_argument("-f", "--dict_file", help="file name of custom aruco dictionary for ChAruco pattern", default="DICT_ARUCO_ORIGINAL.json",
action="store", dest="dict_file", type=str)
args = parser.parse_args()
show_help = args.show_help
@@ -185,6 +259,9 @@ def main():
units = args.units
square_size = args.square_size
radius_rate = args.radius_rate
aruco_marker_size = args.aruco_marker_size
dict_file = args.dict_file
if 'page_width' and 'page_height' in args:
page_width = args.page_width
page_height = args.page_height
@@ -206,10 +283,11 @@ def main():
else:
raise ValueError("The marker {},{} is outside the checkerboard".format(x, y))
pm = PatternMaker(columns, rows, output, units, square_size, radius_rate, page_width, page_height, markers)
pm = PatternMaker(columns, rows, output, units, square_size, radius_rate, page_width, page_height, markers, aruco_marker_size, dict_file)
# dict for easy lookup of pattern type
mp = {"circles": pm.make_circles_pattern, "acircles": pm.make_acircles_pattern,
"checkerboard": pm.make_checkerboard_pattern, "radon_checkerboard": pm.make_radon_checkerboard_pattern}
"checkerboard": pm.make_checkerboard_pattern, "radon_checkerboard": pm.make_radon_checkerboard_pattern,
"charuco_board": pm.make_charuco_board}
mp[p_type]()
# this should save pattern to output
pm.save()