#!/usr/bin/env python """gen_pattern.py Usage example: python gen_pattern.py -o out.svg -r 11 -c 8 -T circles -s 20.0 -R 5.0 -u mm -w 216 -h 279 -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, 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) -w, --page_width - page width in units (default 216) -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, aruco_marker_size, dict_file): self.cols = cols self.rows = rows self.output = output self.units = units self.square_size = square_size self.radius_rate = radius_rate 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): spacing = self.square_size r = spacing / self.radius_rate pattern_width = ((self.cols - 1.0) * spacing) + (2.0 * r) pattern_height = ((self.rows - 1.0) * spacing) + (2.0 * r) x_spacing = (self.width - pattern_width) / 2.0 y_spacing = (self.height - pattern_height) / 2.0 for x in range(0, self.cols): for y in range(0, self.rows): dot = SVG("circle", cx=(x * spacing) + x_spacing + r, cy=(y * spacing) + y_spacing + r, r=r, fill="black", stroke="none") self.g.append(dot) def make_acircles_pattern(self): spacing = self.square_size r = spacing / self.radius_rate pattern_width = ((self.cols-1.0) * 2 * spacing) + spacing + (2.0 * r) pattern_height = ((self.rows-1.0) * spacing) + (2.0 * r) x_spacing = (self.width - pattern_width) / 2.0 y_spacing = (self.height - pattern_height) / 2.0 for x in range(0, self.cols): for y in range(0, self.rows): dot = SVG("circle", cx=(2 * x * spacing) + (y % 2)*spacing + x_spacing + r, cy=(y * spacing) + y_spacing + r, r=r, fill="black", stroke="none") self.g.append(dot) def make_checkerboard_pattern(self): spacing = self.square_size xspacing = (self.width - self.cols * self.square_size) / 2.0 yspacing = (self.height - self.rows * self.square_size) / 2.0 for x in range(0, self.cols): for y in range(0, self.rows): 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) @staticmethod def _make_round_rect(x, y, diam, corners=("right", "right", "right", "right")): rad = diam / 2 cw_point = ((0, 0), (diam, 0), (diam, diam), (0, diam)) mid_cw_point = ((0, rad), (rad, 0), (diam, rad), (rad, diam)) res_str = "M{},{} ".format(x + mid_cw_point[0][0], y + mid_cw_point[0][1]) n = len(cw_point) for i in range(n): if corners[i] == "right": res_str += "L{},{} L{},{} ".format(x + cw_point[i][0], y + cw_point[i][1], x + mid_cw_point[(i + 1) % n][0], y + mid_cw_point[(i + 1) % n][1]) elif corners[i] == "round": res_str += "A{},{} 0,0,1 {},{} ".format(rad, rad, x + mid_cw_point[(i + 1) % n][0], y + mid_cw_point[(i + 1) % n][1]) else: raise TypeError("unknown corner type") return res_str def _get_type(self, x, y): corners = ["right", "right", "right", "right"] is_inside = True if x == 0: corners[0] = "round" corners[3] = "round" is_inside = False if y == 0: corners[0] = "round" corners[1] = "round" is_inside = False if x == self.cols - 1: corners[1] = "round" corners[2] = "round" is_inside = False if y == self.rows - 1: corners[2] = "round" corners[3] = "round" is_inside = False return corners, is_inside def make_radon_checkerboard_pattern(self): spacing = self.square_size xspacing = (self.width - self.cols * self.square_size) / 2.0 yspacing = (self.height - self.rows * self.square_size) / 2.0 for x in range(0, self.cols): for y in range(0, self.rows): if x % 2 == y % 2: corner_types, is_inside = self._get_type(x, y) if is_inside: square = SVG("rect", x=x * spacing + xspacing, y=y * spacing + yspacing, width=spacing, 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") self.g.append(square) if self.markers is not None: r = self.square_size * 0.17 pattern_width = ((self.cols - 1.0) * spacing) + (2.0 * r) pattern_height = ((self.rows - 1.0) * spacing) + (2.0 * r) x_spacing = (self.width - pattern_width) / 2.0 y_spacing = (self.height - pattern_height) / 2.0 for x, y in self.markers: color = "black" if x % 2 == y % 2: color = "white" dot = SVG("circle", cx=(x * spacing) + x_spacing + r, 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 if ch_ar_border < side*0.7: print("Marker border {} is less than 70% of ArUco pin size {}. Please increase --square_size or decrease --marker_size for stable board detection".format(ch_ar_border, int(side))) 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)) c.save(self.output) def main(): # parse command line options parser = argparse.ArgumentParser(description="generate camera-calibration pattern", add_help=False) parser.add_argument("-H", "--help", help="show help", action="store_true", dest="show_help") parser.add_argument("-o", "--output", help="output file", default="out.svg", action="store", dest="output") parser.add_argument("-c", "--columns", help="pattern columns", default="8", action="store", dest="columns", 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", "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", dest="square_size", type=float) parser.add_argument("-R", "--radius_rate", help="circles_radius = square_size/radius_rate", default="5.0", action="store", dest="radius_rate", type=float) parser.add_argument("-w", "--page_width", help="page width in units", default=argparse.SUPPRESS, action="store", dest="page_width", type=float) parser.add_argument("-h", "--page_height", help="page height in units", default=argparse.SUPPRESS, action="store", dest="page_height", type=float) parser.add_argument("-a", "--page_size", help="page size, superseded if -h and -w are set", default="A4", action="store", dest="page_size", choices=["A0", "A1", "A2", "A3", "A4", "A5"]) parser.add_argument("-m", "--markers", help="list of cells with markers for the radon checkerboard. Marker " "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 if show_help: parser.print_help() return output = args.output columns = args.columns rows = args.rows p_type = args.p_type 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 else: page_size = args.page_size # page size dict (ISO standard, mm) for easy lookup. format - size: [width, height] page_sizes = {"A0": [840, 1188], "A1": [594, 840], "A2": [420, 594], "A3": [297, 420], "A4": [210, 297], "A5": [148, 210]} page_width = page_sizes[page_size][0] page_height = page_sizes[page_size][1] markers = None if p_type == "radon_checkerboard" and "markers" in args: if len(args.markers) % 2 == 1: raise ValueError("The length of the markers array={} must be even".format(len(args.markers))) markers = set() for x, y in zip(args.markers[::2], args.markers[1::2]): if x in range(0, columns) and y in range(0, rows): markers.add((x, y)) else: raise ValueError("The marker {},{} is outside the checkerboard".format(x, y)) if p_type == "charuco_board" and aruco_marker_size >= square_size: raise ValueError("ArUco markers size must be smaller than square size") 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, "charuco_board": pm.make_charuco_board} mp[p_type]() # this should save pattern to output pm.save() if __name__ == "__main__": main()