cute box

.gitattributes

@@ -1 +1,5 @@
 *.parquet filter=lfs diff=lfs merge=lfs -text
+charuco_400x400_3x3_s130_m100_no_24.pdf filter=lfs diff=lfs merge=lfs -text
+charuco_1189x841_10x7_s115_m90.pdf filter=lfs diff=lfs merge=lfs -text
+charuco_400x400_3x3_s130_m100_no_16.pdf filter=lfs diff=lfs merge=lfs -text
+charuco_400x400_3x3_s130_m100_no_20.pdf filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -1,6 +1,5 @@
 *.jpg
 *.jpeg
-*.pdf
 *.png
 
 # Byte-compiled / optimized / DLL files

README.md

@@ -6,3 +6,13 @@ See also [gen.sh](gen.sh) (put it in the same directory as the pattern generator
 
 - A0 size, 10x7, square 115mm, marker 90mm
 - 400mm x 400mm ArUco board (4x4, 0-5 id)
+
+## Diamond
+
+9.7cm (97mm) square for marker
+12.7cm (127mm) square for diamond
+9mm border (in average)
+
+- [16, 17, 18, 19]
+- [20, 21, 22, 23]
+- [24, 25, 26, 27]

cali.py

@@ -37,10 +37,10 @@ class ArucoDictionary(Enum):
     Dict_ArUco_ORIGINAL = aruco.DICT_ARUCO_ORIGINAL
 
 
-IMAGE_FOLDER = Path("dumped/b")
+IMAGE_FOLDER = Path("dumped/usbcam")
 OUTPUT_FOLDER = Path("output")
 DICTIONARY = ArucoDictionary.Dict_4X4_50
-CALIBRATION_PARQUET: Optional[Path] = OUTPUT_FOLDER / "calibration.parquet"
+CALIBRATION_PARQUET: Optional[Path] = OUTPUT_FOLDER / "usbcam_cal.parquet"
 
 
 class CameraParams(TypedDict):

capture.py

@@ -0,0 +1,33 @@
+import cv2
+from datetime import datetime
+from loguru import logger
+from pathlib import Path
+
+BASE_PATH = Path("dumped/cam")
+
+def gen():
+    API = cv2.CAP_AVFOUNDATION
+    cap = cv2.VideoCapture(0, API)
+    while True:
+        ret, frame = cap.read()
+        if not ret:
+            logger.warning("Failed to grab frame")
+            break
+        yield frame
+
+def main():
+    for frame in gen():
+        cv2.imshow("frame", frame)
+        k = cv2.waitKey(1)
+        if k == ord("q"):
+            break
+        elif k == ord("s"):
+            now = datetime.now()
+            filename = BASE_PATH / f"capture_{now.strftime('%Y%m%d%H%M%S')}.jpg"
+            logger.warning(f"Saving to {filename}")
+            cv2.imwrite(str(filename), frame)
+        else:
+            ...
+
+if __name__ == "__main__":
+    main()

find_cute_box.py

@@ -0,0 +1,83 @@
+import cv2
+from cv2 import aruco
+from datetime import datetime
+from loguru import logger
+from pathlib import Path
+from typing import cast, Final
+import awkward as ak
+from cv2.typing import MatLike
+import numpy as np
+
+NDArray = np.ndarray
+CALIBRATION_PARQUET = Path("output") / "usbcam_cal.parquet"
+DICTIONARY: Final[int] = aruco.DICT_4X4_50
+# 400mm
+MARKER_LENGTH: Final[float] = 0.4
+
+
+def gen():
+    API = cv2.CAP_AVFOUNDATION
+    cap = cv2.VideoCapture(0, API)
+    while True:
+        ret, frame = cap.read()
+        if not ret:
+            logger.warning("Failed to grab frame")
+            break
+        yield frame
+
+
+def main():
+    aruco_dict = aruco.getPredefinedDictionary(DICTIONARY)
+    cal = ak.from_parquet(CALIBRATION_PARQUET)[0]
+    camera_matrix = cast(MatLike, ak.to_numpy(cal["camera_matrix"]))
+    distortion_coefficients = cast(MatLike, ak.to_numpy(cal["distortion_coefficients"]))
+    detector = aruco.ArucoDetector(
+        dictionary=aruco_dict, detectorParams=aruco.DetectorParameters()
+    )
+
+    for frame in gen():
+        grey = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+        # pylint: disable-next=unpacking-non-sequence
+        markers, ids, rejected = detector.detectMarkers(grey)
+        # `markers` is [N, 1, 4, 2]
+        # `ids` is [N, 1]
+        if ids is not None:
+            markers = np.reshape(markers, (-1, 4, 2))
+            ids = np.reshape(ids, (-1, 1))
+            # logger.info("markers={}, ids={}", np.array(markers).shape, np.array(ids).shape)
+            for m, i in zip(markers, ids):
+                center = np.mean(m, axis=0).astype(int)
+                GREY = (128, 128, 128)
+                logger.info("id={}, center={}", i, center)
+                cv2.circle(frame, tuple(center), 5, GREY, -1)
+                cv2.putText(
+                    frame,
+                    str(i),
+                    tuple(center),
+                    cv2.FONT_HERSHEY_SIMPLEX,
+                    1,
+                    GREY,
+                    2,
+                )
+                # BGR
+                RED = (0, 0, 255)
+                GREEN = (0, 255, 0)
+                BLUE = (255, 0, 0)
+                YELLOW = (0, 255, 255)
+                color_map = [RED, GREEN, BLUE, YELLOW]
+                for color, corners in zip(color_map, m):
+                    corners = corners.astype(int)
+                    frame = cv2.circle(frame, corners, 5, color, -1)
+        cv2.imshow("frame", frame)
+        if (k := cv2.waitKey(1)) == ord("q"):
+            logger.info("Exiting")
+            break
+        elif k == ord("s"):
+            now = datetime.now().strftime("%Y%m%d%H%M%S")
+            file_name = f"aruco_{now}.png"
+            logger.info("Saving to {}", file_name)
+            cv2.imwrite(file_name, frame)
+
+
+if __name__ == "__main__":
+    main()

videos.toml

@@ -0,0 +1,39 @@
+[cameras.a]
+name = "three-four-right"
+videos = [
+    "video-20241206-161501.mp4",
+    "video-20241206-162615.mp4",
+    "video-20241206-163043.mp4",
+    "video-20241206-164116.mp4",
+    "video-20241206-164541.mp4",
+    "video-20241206-164956.mp4",
+]
+[cameras.b]
+name = "right"
+videos = [
+    "video-20241206-162045.mp4",
+    "video-20241206-163050.mp4",
+    "video-20241206-164124.mp4",
+    "video-20241206-164536.mp4",
+    "video-20241206-164952.mp4",
+    "video-20241206-165800.mp4",
+]
+[cameras.c]
+name = "bottom"
+videos = [
+    "video-20241206-162055.mp4",
+    "video-20241206-163037.mp4",
+    "video-20241206-164107.mp4",
+    "video-20241206-164548.mp4",
+    "video-20241206-165818.mp4",
+]
+[cameras.d]
+name = "hk"
+videos = [
+    "Video_20241206163609771.avi",
+    "Video_20241206164041621.avi",
+    "Video_20241206164534460.avi",
+    "Video_20241206165004982.avi",
+    "Video_20241206165831395.avi",
+]
+# https://superuser.com/questions/650291/how-to-get-video-duration-in-seconds