feat: aruco box instead of charuco

.vscode/settings.json

@@ -1,4 +1,6 @@
 {
     "python.analysis.typeCheckingMode": "standard",
-    "python.analysis.autoImportCompletions": true
+    "python.analysis.autoImportCompletions": true,
+    "python-envs.defaultEnvManager": "ms-python.python:system",
+    "python-envs.pythonProjects": []
 }

find_aruco_points.py

@@ -1,4 +1,5 @@
 import cv2
+import subprocess
 from cv2 import aruco
 from datetime import datetime
 from loguru import logger
@@ -9,9 +10,11 @@ from cv2.typing import MatLike
 import numpy as np
 
 NDArray = np.ndarray
-CALIBRATION_PARQUET = Path("output") / "usbcam_cal.parquet"
+# CALIBRATION_PARQUET = Path("output") / "usbcam_cal.parquet"
+CALIBRATION_PARQUET = None
 # 7x7
-DICTIONARY: Final[int] = aruco.DICT_7X7_1000
+# DICTIONARY: Final[int] = aruco.DICT_7X7_1000
+DICTIONARY: Final[int] = aruco.DICT_APRILTAG_36H11
 # 400mm
 MARKER_LENGTH: Final[float] = 0.4
 RED = (0, 0, 255)
@@ -33,9 +36,17 @@ def gen():
 
 def main():
     aruco_dict = aruco.getPredefinedDictionary(DICTIONARY)
-    cal = ak.from_parquet(CALIBRATION_PARQUET)[0]
+    cal = (
-    camera_matrix = cast(MatLike, ak.to_numpy(cal["camera_matrix"]))
+        None if CALIBRATION_PARQUET is None else ak.from_parquet(CALIBRATION_PARQUET)[0]
-    distortion_coefficients = cast(MatLike, ak.to_numpy(cal["distortion_coefficients"]))
+    )
+    camera_matrix = (
+        None if cal is None else cast(MatLike, ak.to_numpy(cal["camera_matrix"]))
+    )
+    distortion_coefficients = (
+        None
+        if cal is None
+        else cast(MatLike, ak.to_numpy(cal["distortion_coefficients"]))
+    )
     detector = aruco.ArucoDetector(
         dictionary=aruco_dict, detectorParams=aruco.DetectorParameters()
     )
@@ -52,7 +63,7 @@ def main():
             # 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)
-                logger.info("id={}, center={}", i, center)
+                # logger.info("id={}, center={}", i, center)
                 cv2.circle(frame, tuple(center), 5, RED, -1)
                 cv2.putText(
                     frame,

interactive_example.py

@@ -1,18 +0,0 @@
-# %%
-import numpy as np
-
-
-# %%
-
-# %% [markdown]
-# # Extract the 3D coordinates of the ArUco markers from the image
-#
-# 1. Load the image
-# 2. Detect the ArUco markers
-# 3. Get the 3D coordinates of the markers
-# 4. Save the 3D coordinates to a file
-
-
-# %%
-
-# %%

test_cam_props.py

@@ -0,0 +1,52 @@
+import cv2
+import time
+
+
+def test_props():
+    # Force AVFoundation
+    cap = cv2.VideoCapture(0, cv2.CAP_AVFOUNDATION)
+
+    if not cap.isOpened():
+        print("Cannot open camera")
+        return
+
+    print(f"Backend: {cap.getBackendName()}")
+
+    # Properties to test
+    props = {
+        "EXPOSURE": cv2.CAP_PROP_EXPOSURE,
+        "BRIGHTNESS": cv2.CAP_PROP_BRIGHTNESS,
+        "GAIN": cv2.CAP_PROP_GAIN,
+        "SATURATION": cv2.CAP_PROP_SATURATION,
+        "CONTRAST": cv2.CAP_PROP_CONTRAST,
+        "AUTO_EXPOSURE": cv2.CAP_PROP_AUTO_EXPOSURE,
+        "IRIS": cv2.CAP_PROP_IRIS,
+        "SETTINGS": cv2.CAP_PROP_SETTINGS,
+    }
+
+    print("\nInitial Values:")
+    for name, prop_id in props.items():
+        val = cap.get(prop_id)
+        print(f"  {name}: {val}")
+
+    print("\nAttempting to set EXPOSURE to various values...")
+    # Try typical ranges. Some backends use -10..10, others 0..1, others raw ms
+    test_vals = [-5.0, -1.0, 0.0, 0.5, 50.0]
+
+    for v in test_vals:
+        print(f"  Setting EXPOSURE to {v}...", end="")
+        cap.set(cv2.CAP_PROP_EXPOSURE, v)
+        time.sleep(0.5)
+        new_val = cap.get(cv2.CAP_PROP_EXPOSURE)
+        print(f" -> Result: {new_val}")
+
+    print("\nAttempting to open Settings Dialog (CAP_PROP_SETTINGS)...")
+    cap.set(cv2.CAP_PROP_SETTINGS, 1)
+    print("  (Did a window pop up?)")
+    time.sleep(2)
+
+    cap.release()
+
+
+if __name__ == "__main__":
+    test_props()