HQU-gxy/ChArUcoBoardExp
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typing

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crosstyan
2024-12-05 10:38:57 +08:00
parent 867fc0885b
commit a55ce7a7d0
1 changed files with 10 additions and 4 deletions
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test.py
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@ -6,7 +6,7 @@ from enum import Enum
from pathlib import Path from pathlib import Path
from loguru import logger from loguru import logger
from itertools import chain from itertools import chain
from typing import Optional, TypedDict, cast from typing import Optional, Sequence, TypedDict, cast
import awkward as ak import awkward as ak
from matplotlib.pyplot import stem from matplotlib.pyplot import stem
@ -94,6 +94,7 @@ def main():
# https://docs.opencv.org/4.x/d9/d0c/group__calib3d.html#ga93efa9b0aa890de240ca32b11253dd4a # https://docs.opencv.org/4.x/d9/d0c/group__calib3d.html#ga93efa9b0aa890de240ca32b11253dd4a
# https://github.com/opencv/opencv/issues/22083 # https://github.com/opencv/opencv/issues/22083
# OpenCV 4.10.x # OpenCV 4.10.x
# pylint: disable-next=unpacking-non-sequence
ch_corners, ch_ids, markers_corners, marker_ids = detector.detectBoard(img) 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 # https://docs.opencv.org/4.10.0/d9/df5/classcv_1_1aruco_1_1CharucoDetector.html
if ch_corners is not None: if ch_corners is not None:
@ -101,12 +102,15 @@ def main():
aruco.drawDetectedCornersCharuco(img, ch_corners, ch_ids, (0, 255, 0)) aruco.drawDetectedCornersCharuco(img, ch_corners, ch_ids, (0, 255, 0))
all_ch_corners.append(ch_corners) all_ch_corners.append(ch_corners)
all_ch_ids.append(ch_ids) all_ch_ids.append(ch_ids)
op, ip = board.matchImagePoints(ch_corners, ch_ids) # type: ignore # pylint: disable-next=unpacking-non-sequence
op, ip = board.matchImagePoints(cast(Sequence[MatLike], ch_corners), ch_ids)
all_object_points.append(op) all_object_points.append(op)
all_image_points.append(ip) all_image_points.append(ip)
if calibration is not None: if calibration is not None:
mtx = cast(MatLike, ak.to_numpy(calibration["camera_matrix"])) mtx = cast(MatLike, ak.to_numpy(calibration["camera_matrix"]))
dist = cast(MatLike,ak.to_numpy(calibration["distortion_coefficients"])) dist = cast(
MatLike, ak.to_numpy(calibration["distortion_coefficients"])
)
ret, rvec, tvec = cv2.solvePnP(op, ip, mtx, dist) ret, rvec, tvec = cv2.solvePnP(op, ip, mtx, dist)
if ret: if ret:
img = cv2.drawFrameAxes(img, mtx, dist, rvec, tvec, 0.1) img = cv2.drawFrameAxes(img, mtx, dist, rvec, tvec, 0.1)
@ -138,7 +142,9 @@ def main():
} }
ak.to_parquet([parameters], OUTPUT_FOLDER / "calibration.parquet") ak.to_parquet([parameters], OUTPUT_FOLDER / "calibration.parquet")
else: else:
logger.warning("no calibration data calculated; either no images or already calibrated") logger.warning(
"no calibration data calculated; either no images or already calibrated"
)
if __name__ == "__main__": if __name__ == "__main__":