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302 lines
15 KiB
302 lines
15 KiB
#!/usr/bin/env python |
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"""gen_pattern.py |
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Usage example: |
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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 |
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-o, --output - output file (default out.svg) |
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-r, --rows - pattern rows (default 11) |
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-c, --columns - pattern columns (default 8) |
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-T, --type - type of pattern: circles, acircles, checkerboard, radon_checkerboard, charuco_board. default circles. |
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-s, --square_size - size of squares in pattern (default 20.0) |
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-R, --radius_rate - circles_radius = square_size/radius_rate (default 5.0) |
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-u, --units - mm, inches, px, m (default mm) |
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-w, --page_width - page width in units (default 216) |
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-h, --page_height - page height in units (default 279) |
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-a, --page_size - page size (default A4), supersedes -h -w arguments |
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-m, --markers - list of cells with markers for the radon checkerboard |
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-p, --aruco_marker_size - aruco markers size for ChAruco pattern (default 10.0) |
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-f, --dict_file - file name of custom aruco dictionary for ChAruco pattern |
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-H, --help - show help |
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""" |
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import argparse |
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import numpy as np |
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import json |
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import gzip |
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from svgfig import * |
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class PatternMaker: |
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def __init__(self, cols, rows, output, units, square_size, radius_rate, page_width, page_height, markers, aruco_marker_size, dict_file): |
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self.cols = cols |
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self.rows = rows |
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self.output = output |
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self.units = units |
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self.square_size = square_size |
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self.radius_rate = radius_rate |
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self.width = page_width |
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self.height = page_height |
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self.markers = markers |
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self.aruco_marker_size = aruco_marker_size #for charuco boards only |
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self.dict_file = dict_file |
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self.g = SVG("g") # the svg group container |
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def make_circles_pattern(self): |
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spacing = self.square_size |
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r = spacing / self.radius_rate |
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pattern_width = ((self.cols - 1.0) * spacing) + (2.0 * r) |
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pattern_height = ((self.rows - 1.0) * spacing) + (2.0 * r) |
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x_spacing = (self.width - pattern_width) / 2.0 |
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y_spacing = (self.height - pattern_height) / 2.0 |
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for x in range(0, self.cols): |
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for y in range(0, self.rows): |
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dot = SVG("circle", cx=(x * spacing) + x_spacing + r, |
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cy=(y * spacing) + y_spacing + r, r=r, fill="black", stroke="none") |
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self.g.append(dot) |
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def make_acircles_pattern(self): |
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spacing = self.square_size |
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r = spacing / self.radius_rate |
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pattern_width = ((self.cols-1.0) * 2 * spacing) + spacing + (2.0 * r) |
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pattern_height = ((self.rows-1.0) * spacing) + (2.0 * r) |
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x_spacing = (self.width - pattern_width) / 2.0 |
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y_spacing = (self.height - pattern_height) / 2.0 |
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for x in range(0, self.cols): |
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for y in range(0, self.rows): |
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dot = SVG("circle", cx=(2 * x * spacing) + (y % 2)*spacing + x_spacing + r, |
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cy=(y * spacing) + y_spacing + r, r=r, fill="black", stroke="none") |
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self.g.append(dot) |
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def make_checkerboard_pattern(self): |
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spacing = self.square_size |
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xspacing = (self.width - self.cols * self.square_size) / 2.0 |
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yspacing = (self.height - self.rows * self.square_size) / 2.0 |
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for x in range(0, self.cols): |
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for y in range(0, self.rows): |
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if x % 2 == y % 2: |
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square = SVG("rect", x=x * spacing + xspacing, y=y * spacing + yspacing, width=spacing, |
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height=spacing, fill="black", stroke="none") |
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self.g.append(square) |
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@staticmethod |
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def _make_round_rect(x, y, diam, corners=("right", "right", "right", "right")): |
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rad = diam / 2 |
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cw_point = ((0, 0), (diam, 0), (diam, diam), (0, diam)) |
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mid_cw_point = ((0, rad), (rad, 0), (diam, rad), (rad, diam)) |
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res_str = "M{},{} ".format(x + mid_cw_point[0][0], y + mid_cw_point[0][1]) |
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n = len(cw_point) |
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for i in range(n): |
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if corners[i] == "right": |
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res_str += "L{},{} L{},{} ".format(x + cw_point[i][0], y + cw_point[i][1], |
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x + mid_cw_point[(i + 1) % n][0], y + mid_cw_point[(i + 1) % n][1]) |
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elif corners[i] == "round": |
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res_str += "A{},{} 0,0,1 {},{} ".format(rad, rad, x + mid_cw_point[(i + 1) % n][0], |
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y + mid_cw_point[(i + 1) % n][1]) |
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else: |
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raise TypeError("unknown corner type") |
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return res_str |
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def _get_type(self, x, y): |
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corners = ["right", "right", "right", "right"] |
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is_inside = True |
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if x == 0: |
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corners[0] = "round" |
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corners[3] = "round" |
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is_inside = False |
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if y == 0: |
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corners[0] = "round" |
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corners[1] = "round" |
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is_inside = False |
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if x == self.cols - 1: |
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corners[1] = "round" |
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corners[2] = "round" |
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is_inside = False |
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if y == self.rows - 1: |
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corners[2] = "round" |
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corners[3] = "round" |
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is_inside = False |
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return corners, is_inside |
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def make_radon_checkerboard_pattern(self): |
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spacing = self.square_size |
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xspacing = (self.width - self.cols * self.square_size) / 2.0 |
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yspacing = (self.height - self.rows * self.square_size) / 2.0 |
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for x in range(0, self.cols): |
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for y in range(0, self.rows): |
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if x % 2 == y % 2: |
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corner_types, is_inside = self._get_type(x, y) |
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if is_inside: |
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square = SVG("rect", x=x * spacing + xspacing, y=y * spacing + yspacing, width=spacing, |
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height=spacing, fill="black", stroke="none") |
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else: |
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square = SVG("path", d=self._make_round_rect(x * spacing + xspacing, y * spacing + yspacing, |
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spacing, corner_types), fill="black", stroke="none") |
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self.g.append(square) |
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if self.markers is not None: |
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r = self.square_size * 0.17 |
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pattern_width = ((self.cols - 1.0) * spacing) + (2.0 * r) |
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pattern_height = ((self.rows - 1.0) * spacing) + (2.0 * r) |
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x_spacing = (self.width - pattern_width) / 2.0 |
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y_spacing = (self.height - pattern_height) / 2.0 |
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for x, y in self.markers: |
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color = "black" |
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if x % 2 == y % 2: |
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color = "white" |
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dot = SVG("circle", cx=(x * spacing) + x_spacing + r, |
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cy=(y * spacing) + y_spacing + r, r=r, fill=color, stroke="none") |
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self.g.append(dot) |
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@staticmethod |
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def _create_marker_bits(markerSize_bits, byteList): |
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marker = np.zeros((markerSize_bits+2, markerSize_bits+2)) |
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bits = marker[1:markerSize_bits+1, 1:markerSize_bits+1] |
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for i in range(markerSize_bits): |
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for j in range(markerSize_bits): |
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bits[i][j] = int(byteList[i*markerSize_bits+j]) |
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return marker |
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def make_charuco_board(self): |
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if (self.aruco_marker_size>self.square_size): |
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print("Error: Aruco marker cannot be lager than chessboard square!") |
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return |
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if (self.dict_file.split(".")[-1] == "gz"): |
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with gzip.open(self.dict_file, 'r') as fin: |
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json_bytes = fin.read() |
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json_str = json_bytes.decode('utf-8') |
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dictionary = json.loads(json_str) |
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else: |
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f = open(self.dict_file) |
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dictionary = json.load(f) |
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if (dictionary["nmarkers"] < int(self.cols*self.rows/2)): |
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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") |
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return |
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markerSize_bits = dictionary["markersize"] |
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side = self.aruco_marker_size / (markerSize_bits+2) |
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spacing = self.square_size |
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xspacing = (self.width - self.cols * self.square_size) / 2.0 |
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yspacing = (self.height - self.rows * self.square_size) / 2.0 |
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ch_ar_border = (self.square_size - self.aruco_marker_size)/2 |
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if ch_ar_border < side*0.7: |
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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))) |
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marker_id = 0 |
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for y in range(0, self.rows): |
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for x in range(0, self.cols): |
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if x % 2 == y % 2: |
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square = SVG("rect", x=x * spacing + xspacing, y=y * spacing + yspacing, width=spacing, |
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height=spacing, fill="black", stroke="none") |
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self.g.append(square) |
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else: |
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img_mark = self._create_marker_bits(markerSize_bits, dictionary["marker_"+str(marker_id)]) |
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marker_id +=1 |
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x_pos = x * spacing + xspacing |
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y_pos = y * spacing + yspacing |
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square = SVG("rect", x=x_pos+ch_ar_border, y=y_pos+ch_ar_border, width=self.aruco_marker_size, |
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height=self.aruco_marker_size, fill="black", stroke="none") |
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self.g.append(square) |
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for x_ in range(len(img_mark[0])): |
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for y_ in range(len(img_mark)): |
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if (img_mark[y_][x_] != 0): |
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square = SVG("rect", x=x_pos+ch_ar_border+(x_)*side, y=y_pos+ch_ar_border+(y_)*side, width=side, |
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height=side, fill="white", stroke="white", stroke_width = spacing*0.01) |
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self.g.append(square) |
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def save(self): |
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c = canvas(self.g, width="%d%s" % (self.width, self.units), height="%d%s" % (self.height, self.units), |
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viewBox="0 0 %d %d" % (self.width, self.height)) |
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c.save(self.output) |
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def main(): |
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# parse command line options |
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parser = argparse.ArgumentParser(description="generate camera-calibration pattern", add_help=False) |
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parser.add_argument("-H", "--help", help="show help", action="store_true", dest="show_help") |
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parser.add_argument("-o", "--output", help="output file", default="out.svg", action="store", dest="output") |
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parser.add_argument("-c", "--columns", help="pattern columns", default="8", action="store", dest="columns", |
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type=int) |
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parser.add_argument("-r", "--rows", help="pattern rows", default="11", action="store", dest="rows", type=int) |
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parser.add_argument("-T", "--type", help="type of pattern", default="circles", action="store", dest="p_type", |
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choices=["circles", "acircles", "checkerboard", "radon_checkerboard", "charuco_board"]) |
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parser.add_argument("-u", "--units", help="length unit", default="mm", action="store", dest="units", |
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choices=["mm", "inches", "px", "m"]) |
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parser.add_argument("-s", "--square_size", help="size of squares in pattern", default="20.0", action="store", |
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dest="square_size", type=float) |
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parser.add_argument("-R", "--radius_rate", help="circles_radius = square_size/radius_rate", default="5.0", |
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action="store", dest="radius_rate", type=float) |
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parser.add_argument("-w", "--page_width", help="page width in units", default=argparse.SUPPRESS, action="store", |
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dest="page_width", type=float) |
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parser.add_argument("-h", "--page_height", help="page height in units", default=argparse.SUPPRESS, action="store", |
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dest="page_height", type=float) |
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parser.add_argument("-a", "--page_size", help="page size, superseded if -h and -w are set", default="A4", |
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action="store", dest="page_size", choices=["A0", "A1", "A2", "A3", "A4", "A5"]) |
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parser.add_argument("-m", "--markers", help="list of cells with markers for the radon checkerboard. Marker " |
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"coordinates as list of numbers: -m 1 2 3 4 means markers in cells " |
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"[1, 2] and [3, 4]", |
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default=argparse.SUPPRESS, action="store", dest="markers", nargs="+", type=int) |
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parser.add_argument("-p", "--marker_size", help="aruco markers size for ChAruco pattern (default 10.0)", default="10.0", |
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action="store", dest="aruco_marker_size", type=float) |
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parser.add_argument("-f", "--dict_file", help="file name of custom aruco dictionary for ChAruco pattern", default="DICT_ARUCO_ORIGINAL.json", |
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action="store", dest="dict_file", type=str) |
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args = parser.parse_args() |
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show_help = args.show_help |
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if show_help: |
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parser.print_help() |
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return |
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output = args.output |
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columns = args.columns |
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rows = args.rows |
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p_type = args.p_type |
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units = args.units |
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square_size = args.square_size |
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radius_rate = args.radius_rate |
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aruco_marker_size = args.aruco_marker_size |
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dict_file = args.dict_file |
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if 'page_width' and 'page_height' in args: |
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page_width = args.page_width |
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page_height = args.page_height |
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else: |
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page_size = args.page_size |
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# page size dict (ISO standard, mm) for easy lookup. format - size: [width, height] |
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page_sizes = {"A0": [840, 1188], "A1": [594, 840], "A2": [420, 594], "A3": [297, 420], "A4": [210, 297], |
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"A5": [148, 210]} |
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page_width = page_sizes[page_size][0] |
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page_height = page_sizes[page_size][1] |
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markers = None |
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if p_type == "radon_checkerboard" and "markers" in args: |
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if len(args.markers) % 2 == 1: |
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raise ValueError("The length of the markers array={} must be even".format(len(args.markers))) |
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markers = set() |
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for x, y in zip(args.markers[::2], args.markers[1::2]): |
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if x in range(0, columns) and y in range(0, rows): |
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markers.add((x, y)) |
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else: |
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raise ValueError("The marker {},{} is outside the checkerboard".format(x, y)) |
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if p_type == "charuco_board" and aruco_marker_size >= square_size: |
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raise ValueError("ArUco markers size must be smaller than square size") |
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pm = PatternMaker(columns, rows, output, units, square_size, radius_rate, page_width, page_height, markers, aruco_marker_size, dict_file) |
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# dict for easy lookup of pattern type |
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mp = {"circles": pm.make_circles_pattern, "acircles": pm.make_acircles_pattern, |
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"checkerboard": pm.make_checkerboard_pattern, "radon_checkerboard": pm.make_radon_checkerboard_pattern, |
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"charuco_board": pm.make_charuco_board} |
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mp[p_type]() |
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# this should save pattern to output |
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pm.save() |
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if __name__ == "__main__": |
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main()
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