diff --git a/boom.ipynb b/boom.ipynb
index b1e140a..99bf65a 100644
--- a/boom.ipynb
+++ b/boom.ipynb
@@ -2,7 +2,7 @@
"cells": [
{
"cell_type": "code",
- "execution_count": 142,
+ "execution_count": 1,
"metadata": {},
"outputs": [],
"source": [
@@ -118,7 +118,7 @@
},
{
"cell_type": "code",
- "execution_count": 143,
+ "execution_count": 2,
"metadata": {},
"outputs": [
{
@@ -155,7 +155,7 @@
},
{
"cell_type": "code",
- "execution_count": 144,
+ "execution_count": 3,
"metadata": {},
"outputs": [],
"source": [
@@ -284,7 +284,7 @@
},
{
"cell_type": "code",
- "execution_count": 145,
+ "execution_count": 4,
"metadata": {},
"outputs": [],
"source": [
@@ -314,7 +314,7 @@
},
{
"cell_type": "code",
- "execution_count": 146,
+ "execution_count": 15,
"metadata": {},
"outputs": [
{
@@ -331,10 +331,10 @@
"mode": "markers+lines+text",
"name": "16",
"text": [
- "0",
- "1",
- "2",
- "3"
+ "16:0",
+ "16:1",
+ "16:2",
+ "16:3"
],
"textposition": "middle center",
"type": "scatter3d",
@@ -364,10 +364,10 @@
"mode": "markers+lines+text",
"name": "17",
"text": [
- "0",
- "1",
- "2",
- "3"
+ "17:0",
+ "17:1",
+ "17:2",
+ "17:3"
],
"textposition": "middle center",
"type": "scatter3d",
@@ -397,10 +397,10 @@
"mode": "markers+lines+text",
"name": "18",
"text": [
- "0",
- "1",
- "2",
- "3"
+ "18:0",
+ "18:1",
+ "18:2",
+ "18:3"
],
"textposition": "middle center",
"type": "scatter3d",
@@ -430,10 +430,10 @@
"mode": "markers+lines+text",
"name": "19",
"text": [
- "0",
- "1",
- "2",
- "3"
+ "19:0",
+ "19:1",
+ "19:2",
+ "19:3"
],
"textposition": "middle center",
"type": "scatter3d",
@@ -483,10 +483,10 @@
"mode": "markers+lines+text",
"name": "20",
"text": [
- "0",
- "1",
- "2",
- "3"
+ "20:0",
+ "20:1",
+ "20:2",
+ "20:3"
],
"textposition": "middle center",
"type": "scatter3d",
@@ -516,10 +516,10 @@
"mode": "markers+lines+text",
"name": "21",
"text": [
- "0",
- "1",
- "2",
- "3"
+ "21:0",
+ "21:1",
+ "21:2",
+ "21:3"
],
"textposition": "middle center",
"type": "scatter3d",
@@ -549,10 +549,10 @@
"mode": "markers+lines+text",
"name": "22",
"text": [
- "0",
- "1",
- "2",
- "3"
+ "22:0",
+ "22:1",
+ "22:2",
+ "22:3"
],
"textposition": "middle center",
"type": "scatter3d",
@@ -582,10 +582,10 @@
"mode": "markers+lines+text",
"name": "23",
"text": [
- "0",
- "1",
- "2",
- "3"
+ "23:0",
+ "23:1",
+ "23:2",
+ "23:3"
],
"textposition": "middle center",
"type": "scatter3d",
@@ -635,10 +635,10 @@
"mode": "markers+lines+text",
"name": "24",
"text": [
- "0",
- "1",
- "2",
- "3"
+ "24:0",
+ "24:1",
+ "24:2",
+ "24:3"
],
"type": "scatter3d",
"x": [
@@ -667,10 +667,10 @@
"mode": "markers+lines+text",
"name": "25",
"text": [
- "0",
- "1",
- "2",
- "3"
+ "25:0",
+ "25:1",
+ "25:2",
+ "25:3"
],
"type": "scatter3d",
"x": [
@@ -699,10 +699,10 @@
"mode": "markers+lines+text",
"name": "26",
"text": [
- "0",
- "1",
- "2",
- "3"
+ "26:0",
+ "26:1",
+ "26:2",
+ "26:3"
],
"type": "scatter3d",
"x": [
@@ -731,10 +731,10 @@
"mode": "markers+lines+text",
"name": "27",
"text": [
- "0",
- "1",
- "2",
- "3"
+ "27:0",
+ "27:1",
+ "27:2",
+ "27:3"
],
"type": "scatter3d",
"x": [
@@ -1625,15 +1625,15 @@
],
"source": [
"fig = go.Figure()\n",
- "t_corners = plane_a.transformed_corners\n",
- "for i, corners in enumerate(t_corners):\n",
+ "t_corners_a = plane_a.transformed_corners\n",
+ "for i, corners in enumerate(t_corners_a):\n",
" fig.add_trace(\n",
" go.Scatter3d(\n",
" x=corners[:, 0],\n",
" y=corners[:, 1],\n",
" z=corners[:, 2],\n",
" mode=\"markers+lines+text\",\n",
- " text=list(range(4)),\n",
+ " text=list(map(lambda x: f\"{plane_a.ids[i]}:{x}\", range(4))),\n",
" textposition=\"middle center\",\n",
" name=str(plane_a.ids[i]),\n",
" marker=dict(size=1),\n",
@@ -1660,7 +1660,7 @@
" y=corners[:, 1],\n",
" z=corners[:, 2],\n",
" mode=\"markers+lines+text\",\n",
- " text=list(range(4)),\n",
+ " text=list(map(lambda x: f\"{plane_b.ids[i]}:{x}\", range(4))),\n",
" textposition=\"middle center\",\n",
" name=str(plane_b.ids[i]),\n",
" marker=dict(size=1),\n",
@@ -1685,7 +1685,7 @@
" y=corners[:, 1],\n",
" z=corners[:, 2],\n",
" mode=\"markers+lines+text\",\n",
- " text=list(range(4)),\n",
+ " text=list(map(lambda x: f\"{plane_c.ids[i]}:{x}\", range(4))),\n",
" name=str(plane_c.ids[i]),\n",
" marker=dict(size=1),\n",
" )\n",
@@ -1719,6 +1719,59 @@
")\n",
"fig.show()"
]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 16,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/html": [
+ "[{name: 'a', ids: [16, 17, 18, 19], corners: [[...], ...]},\n",
+ " {name: 'b', ids: [20, 21, 22, 23], corners: [[...], ...]},\n",
+ " {name: 'c', ids: [24, 25, 26, 27], corners: [[...], ...]}]\n",
+ "-----------------------------------------------------------\n",
+ "type: 3 * {\n",
+ " name: string,\n",
+ " ids: var * int64,\n",
+ " corners: var * var * var * float64\n",
+ "}"
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ }
+ ],
+ "source": [
+ "import awkward as ak\n",
+ "from awkward import Record as AwkwardRecord, Array as AwkwardArray\n",
+ "\n",
+ "coords = AwkwardArray(\n",
+ " [\n",
+ " {\n",
+ " \"name\": \"a\",\n",
+ " \"ids\": plane_a.ids,\n",
+ " \"corners\": t_corners_a,\n",
+ " },\n",
+ " {\n",
+ " \"name\": \"b\",\n",
+ " \"ids\": plane_b.ids,\n",
+ " \"corners\": t_corners_b,\n",
+ " },\n",
+ " {\n",
+ " \"name\": \"c\",\n",
+ " \"ids\": plane_c.ids,\n",
+ " \"corners\": t_corners_c,\n",
+ " },\n",
+ " ]\n",
+ ")\n",
+ "display(coords)\n",
+ "_ = ak.to_parquet(coords, \"output/object_points.parquet\")"
+ ]
}
],
"metadata": {
diff --git a/find_cute_object.py b/find_cute_object.py
new file mode 100644
index 0000000..c822f47
--- /dev/null
+++ b/find_cute_object.py
@@ -0,0 +1,63 @@
+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"
+OBJECT_POINTS_PARQUET = Path("output") / "object_points.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"]))
+ ops = ak.from_parquet(OBJECT_POINTS_PARQUET)
+ board = aruco.CharucoBoard(
+ size=(3, 3), squareLength=0.127, markerLength=0.097, dictionary=aruco_dict
+ )
+ detector = aruco.CharucoDetector(board)
+
+ for frame in gen():
+ grey = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+ # pylint: disable-next=unpacking-non-sequence
+ diamond_corners, diamond_ids, markers, marker_ids = detector.detectDiamonds(
+ grey
+ )
+ # `markers` is [N, 1, 4, 2]
+ # `ids` is [N, 1]
+ if diamond_ids is not None:
+ aruco.drawDetectedDiamonds(frame, diamond_corners, diamond_ids)
+ 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()
diff --git a/output/object_points.parquet b/output/object_points.parquet
new file mode 100644
index 0000000..b36fa12
--- /dev/null
+++ b/output/object_points.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c724e688289d04f446c963246a94f37083170ac92f1010e2350dbe634098fa8
+size 4897