many

test.py

@@ -6,6 +6,8 @@ from pathlib import Path
 from loguru import logger
 from itertools import chain
 
+from matplotlib.pyplot import stem
+
 
 class ArucoDictionary(Enum):
     Dict_4X4_50 = aruco.DICT_4X4_50
@@ -31,21 +33,7 @@ class ArucoDictionary(Enum):
     Dict_ArUco_ORIGINAL = aruco.DICT_ARUCO_ORIGINAL
 
 
-def create_charuco_board(
+IMAGE_FOLDER = Path("xx")
-    square_x: int,
-    square_y: int,
-    square_length: float,
-    marker_length: float,
-    dictionary: aruco.Dictionary,
-) -> aruco.CharucoBoard:
-    return aruco.CharucoBoard(  # type: ignore
-        (square_x, square_y), square_length, marker_length, dictionary
-    )
-
-
-# IMAGE_PATH = Path("/Users/crosstyan/Downloads/IMG_1505.jpeg")
-# IMAGE_PATH = Path("ss.png")
-IMAGE_FOLDER = Path("at")
 OUTPUT_FOLDER = Path("output")
 DICTIONARY = ArucoDictionary.Dict_4X4_50
 
@@ -55,46 +43,40 @@ def main():
     for img_path in images:
         img = cv2.imread(str(img_path))
         # 10x7
-        # minus 1
+        # minus 1 when dealing with normal chessboard
-        border_num_x = 9
+        border_num_x = 10
-        border_num_y = 6
+        border_num_y = 7
         # 115mm square
         # 90mm marker
-        # https://docs.opencv.org/4.x/d9/d6a/group__aruco.html#ga3bc50d61fe4db7bce8d26d56b5a6428a
-        # https://docs.opencv.org/4.x/df/d4a/tutorial_charuco_detection.html
         # https://docs.opencv.org/3.4/df/d4a/tutorial_charuco_detection.html
+        # https://docs.opencv.org/4.x/df/d4a/tutorial_charuco_detection.html
+        # https://docs.opencv.org/4.x/da/d13/tutorial_aruco_calibration.html
         # https://docs.opencv.org/4.x/dc/dbb/tutorial_py_calibration.html
 
         # https://docs.opencv.org/4.x/d9/d0c/group__calib3d.html#ga93efa9b0aa890de240ca32b11253dd4a
-        # https://docs.opencv.org/4.x/da/d13/tutorial_aruco_calibration.html
         # https://github.com/opencv/opencv/issues/22083
-        ret, chess_corners = cv2.findChessboardCorners(
+        # OpenCV 4.10.x
-            img,
+        dictionary = aruco.getPredefinedDictionary(DICTIONARY.value)
-            (border_num_x, border_num_y),
+        board = aruco.CharucoBoard(
-            flags=cv2.CALIB_CB_ADAPTIVE_THRESH
+            (border_num_x, border_num_y), 0.115, 0.09, dictionary
-            | cv2.CALIB_CB_NORMALIZE_IMAGE
-            | cv2.CALIB_CB_FAST_CHECK,
         )
-        if ret:
+        detector = aruco.CharucoDetector(board)
-            cv2.drawChessboardCorners(
+
-                img, (border_num_x, border_num_y), chess_corners, ret
+        ch_corners, ch_ids, markers_corners, marker_ids = detector.detectBoard(img)
+        # https://docs.opencv.org/4.10.0/d9/df5/classcv_1_1aruco_1_1CharucoDetector.html
+        if ch_corners is not None:
+            # https://docs.opencv.org/4.x/d4/db2/classcv_1_1aruco_1_1Board.html
+            aruco.drawDetectedCornersCharuco(
+                img, ch_corners, ch_ids, (0, 255, 0)
             )
-            cv2.imwrite(str(OUTPUT_FOLDER / f"{img_path.stem}_chess.jpg"), img)
+        else: 
-            logger.info("Chessboard found for {}", img_path)
+            logger.warning(f"Failed to detect Charuco board in {img_path}")
-        else:
+            continue
-            logger.warning("Chessboard not found for {}", img_path)
+        if markers_corners is not None:
-
+            aruco.drawDetectedMarkers(img, markers_corners, marker_ids)
-        # predefined_dict = aruco.getPredefinedDictionary(DICTIONARY.value)
+        output_path = OUTPUT_FOLDER / (f"{img_path.stem}_output.jpg")
-        # corners, ids, rejected = aruco.detectMarkers(img, predefined_dict)
+        logger.info(f"Saving to {output_path}")
-        # board = create_charuco_board(10, 7, 115, 90, predefined_dict)
+        cv2.imwrite(str(output_path), img)
-        # detector = aruco.CharucoDetector(board)
-        # if ids is not None:
-        #     aruco.drawDetectedMarkers(img, corners, ids)
-        #     ret, ch_corners, ch_ids =  aruco.interpolateCornersCharuco(corners, ids, img, board)
-        #     if ch_corners is not None and ch_ids is not None:
-        #         aruco.drawDetectedCornersCharuco(img, ch_corners, ch_ids)
-        # cv2.imwrite("output.jpg", img)
-
 
 if __name__ == "__main__":
     main()