cute object we go

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",
+          "16:0",
-          "1",
+          "16:1",
-          "2",
+          "16:2",
-          "3"
+          "16:3"
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          "textposition": "middle center",
          "type": "scatter3d",
@@ -364,10 +364,10 @@
          "mode": "markers+lines+text",
          "name": "17",
          "text": [
-          "0",
+          "17:0",
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+          "17:1",
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+          "17:2",
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+          "17:3"
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@@ -397,10 +397,10 @@
          "mode": "markers+lines+text",
          "name": "18",
          "text": [
-          "0",
+          "18:0",
-          "1",
+          "18:1",
-          "2",
+          "18:2",
-          "3"
+          "18:3"
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          "textposition": "middle center",
          "type": "scatter3d",
@@ -430,10 +430,10 @@
          "mode": "markers+lines+text",
          "name": "19",
          "text": [
-          "0",
+          "19:0",
-          "1",
+          "19:1",
-          "2",
+          "19:2",
-          "3"
+          "19:3"
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          "type": "scatter3d",
@@ -483,10 +483,10 @@
          "mode": "markers+lines+text",
          "name": "20",
          "text": [
-          "0",
+          "20:0",
-          "1",
+          "20:1",
-          "2",
+          "20:2",
-          "3"
+          "20:3"
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          "type": "scatter3d",
@@ -516,10 +516,10 @@
          "mode": "markers+lines+text",
          "name": "21",
          "text": [
-          "0",
+          "21:0",
-          "1",
+          "21:1",
-          "2",
+          "21:2",
-          "3"
+          "21:3"
          ],
          "textposition": "middle center",
          "type": "scatter3d",
@@ -549,10 +549,10 @@
          "mode": "markers+lines+text",
          "name": "22",
          "text": [
-          "0",
+          "22:0",
-          "1",
+          "22:1",
-          "2",
+          "22:2",
-          "3"
+          "22:3"
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          "textposition": "middle center",
          "type": "scatter3d",
@@ -582,10 +582,10 @@
          "mode": "markers+lines+text",
          "name": "23",
          "text": [
-          "0",
+          "23:0",
-          "1",
+          "23:1",
-          "2",
+          "23:2",
-          "3"
+          "23:3"
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          "textposition": "middle center",
          "type": "scatter3d",
@@ -635,10 +635,10 @@
          "mode": "markers+lines+text",
          "name": "24",
          "text": [
-          "0",
+          "24:0",
-          "1",
+          "24:1",
-          "2",
+          "24:2",
-          "3"
+          "24:3"
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          "type": "scatter3d",
          "x": [
@@ -667,10 +667,10 @@
          "mode": "markers+lines+text",
          "name": "25",
          "text": [
-          "0",
+          "25:0",
-          "1",
+          "25:1",
-          "2",
+          "25:2",
-          "3"
+          "25:3"
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          "type": "scatter3d",
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@@ -699,10 +699,10 @@
          "mode": "markers+lines+text",
          "name": "26",
          "text": [
-          "0",
+          "26:0",
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+          "26:1",
-          "2",
+          "26:2",
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@@ -731,10 +731,10 @@
          "mode": "markers+lines+text",
          "name": "27",
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+          "27:1",
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+          "27:2",
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          "x": [
@@ -1625,15 +1625,15 @@
    ],
    "source": [
     "fig = go.Figure()\n",
-    "t_corners = plane_a.transformed_corners\n",
+    "t_corners_a = plane_a.transformed_corners\n",
-    "for i, corners in enumerate(t_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": [
+       "<pre>[{name: &#x27;a&#x27;, ids: [16, 17, 18, 19], corners: [[...], ...]},\n",
+       " {name: &#x27;b&#x27;, ids: [20, 21, 22, 23], corners: [[...], ...]},\n",
+       " {name: &#x27;c&#x27;, ids: [24, 25, 26, 27], corners: [[...], ...]}]\n",
+       "-----------------------------------------------------------\n",
+       "type: 3 * {\n",
+       "    name: string,\n",
+       "    ids: var * int64,\n",
+       "    corners: var * var * var * float64\n",
+       "}</pre>"
+      ],
+      "text/plain": [
+       "<Array [{name: 'a', ids: [...], ...}, ...] type='3 * {name: string, ids: va...'>"
+      ]
+     },
+     "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": {

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()