CharucoBoard.py

import cv2 as cv
import numpy as np
import CameraGroup


dicts = ['DICT_4X4_50', 'DICT_4X4_100', 'DICT_4X4_250', 'DICT_4X4_1000', 'DICT_5X5_50', 'DICT_5X5_100', 'DICT_5X5_250', 'DICT_5X5_1000', 'DICT_6X6_50', 'DICT_6X6_100', 'DICT_6X6_250',
         'DICT_6X6_1000', 'DICT_7X7_50', 'DICT_7X7_100', 'DICT_7X7_250', 'DICT_7X7_1000', 'DICT_ARUCO_ORIGINAL', 'DICT_APRILTAG_16h5', 'DICT_APRILTAG_25h9', 'DICT_APRILTAG_36h10', 'DICT_APRILTAG_36h11']


class ChessBoard():
    def __init__(self):
        self.partternSize = (11, 8)
        self.squareSize = 2.5
        self.printSize = (29.7, 21)
        self.dpi = 96

    def create(self):
        dpi = self.dpi/2.54
        suqrelen = int(dpi*self.squareSize)
        imageSize = (int(self.printSize[0]*dpi), int(self.printSize[1]*dpi))
        board = (imageSize[0]-suqrelen*self.partternSize[0],
                 imageSize[1]-suqrelen*self.partternSize[1])
        board = (board[0]//2, board[1]//2)
        chessBoard = np.array(np.zeros((imageSize[1], imageSize[0]), 'uint8'))
        chessBoard[:] = 255
        flag = 1
        for i in range(0, self.partternSize[0]):
            flag = 0 if flag else 1
            for j in range(flag, self.partternSize[1], 2):
                x = (i*suqrelen+board[0], (i+1)*suqrelen+board[0])
                y = (j*suqrelen+board[1], (j+1)*suqrelen+board[1])
                chessBoard[y[0]:y[1], x[0]:x[1]] = 0
        return chessBoard


class CharucoBoard():
    def __init__(self):
        self.dict = None

    def create(self, numX, numY, dict: int, squareSize, imageSize: list, dpi: int):
        self.dpi = dpi  # *100/2.54   #pixel per inch
        self.dictID = dict
        self.partternSize = (numX, numY)
        self.imgSize = imageSize
        self.squareSize = squareSize
        self.markerSize = squareSize*0.6
        self.dictionary = cv.aruco.getPredefinedDictionary(dict)
        self.board = cv.aruco.CharucoBoard(
            (numX, numY), self.squareSize, self.markerSize, self.dictionary)
        minSize = min(imageSize[0]-squareSize*numX,
                      imageSize[1]-squareSize*numY)/2
        if minSize < 0:
            print('too much square!')
            return None
        print((int(imageSize[0]*dpi), int(imageSize[1]*dpi)), int(minSize*dpi))
        img = self.board.generateImage((int(imageSize[0]*self.dpi/2.54), int(
            imageSize[1]*self.dpi/2.54)), None, int(minSize*self.dpi/2.54), 1)
        return img

    def saveConfig(self, path):
        file = cv.FileStorage(
            path+'/charucoBoard_Parameter.yml', cv.FileStorage_WRITE)
        file.write('DPI', self.dpi)
        file.write('dictID', self.dictID)
        file.write('squareNumber_X', self.partternSize[0])
        file.write('squareNumber_Y', self.partternSize[1])
        file.write('imageSize_X', self.imgSize[0])
        file.write('imageSize_Y', self.imgSize[1])
        file.write('squareSize', self.squareSize)
        file.write('markSize', self.markerSize)
        file.release()

    def loadFromFile(self, path):
        file = cv.FileStorage(
            path+'/charucoBoard_Parameter.yml', cv.FileStorage_READ)
        pass  # unimplemented
        file.release()