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crosstyan
2025-04-21 16:26:21 +08:00
parent 3598defe68
commit dce9e11502
11 changed files with 446 additions and 119 deletions
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get_ext.ipynb
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@ -2,7 +2,7 @@
"cells": [
{
"cell_type": "code",
"execution_count": 1,
"execution_count": 38,
"metadata": {},
"outputs": [],
"source": [
@ -22,7 +22,7 @@
},
{
"cell_type": "code",
"execution_count": 2,
"execution_count": 39,
"metadata": {},
"outputs": [],
"source": [
@ -33,80 +33,15 @@
"MARKER_LENGTH: Final[float] = 0.4\n",
"\n",
"A_CALIBRATION_PARQUET = Path(\"output\") / \"a-ae_08.parquet\"\n",
"B_CALIBRATION_PARQUET = Path(\"output\") / \"b-af_03.parquet\""
"B_CALIBRATION_PARQUET = Path(\"output\") / \"b-ae_09.parquet\"\n",
"C_CALIBRATION_PARQUET = Path(\"output\") / \"c-af_03.parquet\""
]
},
{
"cell_type": "code",
"execution_count": 3,
"execution_count": 40,
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"'ops_map'"
]
},
"metadata": {},
"output_type": "display_data"
},
{
"data": {
"text/plain": [
"{16: array([[0.152, 0.025, 0. ],\n",
" [0.249, 0.025, 0. ],\n",
" [0.249, 0.122, 0. ],\n",
" [0.152, 0.122, 0. ]]),\n",
" 17: array([[0.025, 0.152, 0. ],\n",
" [0.122, 0.152, 0. ],\n",
" [0.122, 0.249, 0. ],\n",
" [0.025, 0.249, 0. ]]),\n",
" 18: array([[0.27900001, 0.152 , 0. ],\n",
" [0.37599999, 0.152 , 0. ],\n",
" [0.37599999, 0.249 , 0. ],\n",
" [0.27900001, 0.249 , 0. ]]),\n",
" 19: array([[0.152 , 0.27900001, 0. ],\n",
" [0.249 , 0.27900001, 0. ],\n",
" [0.249 , 0.37599999, 0. ],\n",
" [0.152 , 0.37599999, 0. ]]),\n",
" 20: array([[1.51999995e-01, 1.70838222e-17, 3.86000000e-01],\n",
" [2.48999998e-01, 2.89628965e-17, 3.86000000e-01],\n",
" [2.48999998e-01, 2.30233595e-17, 2.88999999e-01],\n",
" [1.51999995e-01, 1.11442852e-17, 2.88999999e-01]]),\n",
" 21: array([[ 2.50000004e-02, -6.24569833e-18, 2.59000005e-01],\n",
" [ 1.22000001e-01, 5.63337574e-18, 2.59000005e-01],\n",
" [ 1.22000001e-01, -3.06161408e-19, 1.62000002e-01],\n",
" [ 2.50000004e-02, -1.21852355e-17, 1.62000002e-01]]),\n",
" 22: array([[2.79000014e-01, 2.48603320e-17, 2.59000005e-01],\n",
" [3.75999987e-01, 3.67394027e-17, 2.59000005e-01],\n",
" [3.75999987e-01, 3.07998655e-17, 1.62000002e-01],\n",
" [2.79000014e-01, 1.89207949e-17, 1.62000002e-01]]),\n",
" 23: array([[ 1.51999995e-01, 1.53080704e-18, 1.31999986e-01],\n",
" [ 2.48999998e-01, 1.34098813e-17, 1.31999986e-01],\n",
" [ 2.48999998e-01, 7.47034601e-18, 3.50000129e-02],\n",
" [ 1.51999995e-01, -4.40872829e-18, 3.50000129e-02]]),\n",
" 24: array([[1.53080852e-18, 2.49000005e-01, 3.86000000e-01],\n",
" [1.53080852e-18, 1.52000002e-01, 3.86000000e-01],\n",
" [7.47034556e-18, 1.52000002e-01, 2.88999999e-01],\n",
" [7.47034556e-18, 2.49000005e-01, 2.88999999e-01]]),\n",
" 25: array([[9.30731537e-18, 3.76000000e-01, 2.59000005e-01],\n",
" [9.30731537e-18, 2.78999999e-01, 2.59000005e-01],\n",
" [1.52468525e-17, 2.78999999e-01, 1.62000002e-01],\n",
" [1.52468525e-17, 3.76000000e-01, 1.62000002e-01]]),\n",
" 26: array([[9.30731537e-18, 1.21999986e-01, 2.59000005e-01],\n",
" [9.30731537e-18, 2.50000129e-02, 2.59000005e-01],\n",
" [1.52468525e-17, 2.50000129e-02, 1.62000002e-01],\n",
" [1.52468525e-17, 1.21999986e-01, 1.62000002e-01]]),\n",
" 27: array([[1.70838237e-17, 2.49000005e-01, 1.31999986e-01],\n",
" [1.70838237e-17, 1.52000002e-01, 1.31999986e-01],\n",
" [2.30233590e-17, 1.52000002e-01, 3.50000129e-02],\n",
" [2.30233590e-17, 2.49000005e-01, 3.50000129e-02]])}"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"outputs": [],
"source": [
"aruco_dict = aruco.getPredefinedDictionary(DICTIONARY)\n",
"def read_camera_calibration(path: Path) -> tuple[MatLike, MatLike]:\n",
@ -115,8 +50,6 @@
" distortion_coefficients = cast(MatLike, ak.to_numpy(cal[\"distortion_coefficients\"]))\n",
" return camera_matrix, distortion_coefficients\n",
"\n",
"a_mtx, a_dist = read_camera_calibration(A_CALIBRATION_PARQUET)\n",
"b_camera_matrix, b_distortion_coefficients = read_camera_calibration(B_CALIBRATION_PARQUET)\n",
"ops = ak.from_parquet(OBJECT_POINTS_PARQUET)\n",
"detector = aruco.ArucoDetector(\n",
" dictionary=aruco_dict, detectorParams=aruco.DetectorParameters()\n",
@ -125,12 +58,12 @@
"total_ids = cast(NDArray, ak.to_numpy(ops[\"ids\"])).flatten()\n",
"total_corners = cast(NDArray, ak.to_numpy(ops[\"corners\"])).reshape(-1, 4, 3)\n",
"ops_map: dict[int, NDArray] = dict(zip(total_ids, total_corners))\n",
"display(\"ops_map\", ops_map)"
"# display(\"ops_map\", ops_map)"
]
},
{
"cell_type": "code",
"execution_count": 4,
"execution_count": 41,
"metadata": {},
"outputs": [],
"source": [
@ -227,26 +160,35 @@
},
{
"cell_type": "code",
"execution_count": 5,
"execution_count": 42,
"metadata": {},
"outputs": [],
"source": [
"A_IMG = Path(\"dumped/batch_two/op/video-20241219-142434-op-a.png\")\n",
"B_IMG = Path(\"dumped/batch_two/op/video-20241219-142439-op-b.png\")\n",
"A_IMG = Path(\"dumped/batch_three/video-20241224-154256-a.png\")\n",
"B_IMG = Path(\"dumped/batch_three/video-20241224-154302-b.png\")\n",
"C_IMG = Path(\"dumped/batch_three/video-20241224-154252-c.png\")\n",
"C_PRIME_IMG = Path(\"dumped/batch_three/video-20241224-153926-c-prime.png\")\n",
"\n",
"a_img = cv2.imread(str(A_IMG))\n",
"b_img = cv2.imread(str(B_IMG))"
"b_img = cv2.imread(str(B_IMG))\n",
"c_img = cv2.imread(str(C_IMG))\n",
"c_prime_img = cv2.imread(str(C_PRIME_IMG))\n",
"\n",
"a_mtx, a_dist = read_camera_calibration(A_CALIBRATION_PARQUET)\n",
"b_mtx, b_dist = read_camera_calibration(B_CALIBRATION_PARQUET)\n",
"c_mtx, c_dist = read_camera_calibration(C_CALIBRATION_PARQUET)"
]
},
{
"cell_type": "code",
"execution_count": 6,
"execution_count": 43,
"metadata": {},
"outputs": [
{
"name": "stderr",
"output_type": "stream",
"text": [
"/var/folders/cj/0zmvpygn7m72m42lh6x_hcgw0000gn/T/ipykernel_28395/542219436.py:22: DeprecationWarning: Conversion of an array with ndim > 0 to a scalar is deprecated, and will error in future. Ensure you extract a single element from your array before performing this operation. (Deprecated NumPy 1.25.)\n",
"/var/folders/cj/0zmvpygn7m72m42lh6x_hcgw0000gn/T/ipykernel_79393/542219436.py:22: DeprecationWarning: Conversion of an array with ndim > 0 to a scalar is deprecated, and will error in future. Ensure you extract a single element from your array before performing this operation. (Deprecated NumPy 1.25.)\n",
" id = int(id)\n"
]
}
@ -258,26 +200,45 @@
},
{
"cell_type": "code",
"execution_count": 7,
"execution_count": 44,
"metadata": {},
"outputs": [
{
"name": "stderr",
"output_type": "stream",
"text": [
"/var/folders/cj/0zmvpygn7m72m42lh6x_hcgw0000gn/T/ipykernel_28395/542219436.py:22: DeprecationWarning: Conversion of an array with ndim > 0 to a scalar is deprecated, and will error in future. Ensure you extract a single element from your array before performing this operation. (Deprecated NumPy 1.25.)\n",
"/var/folders/cj/0zmvpygn7m72m42lh6x_hcgw0000gn/T/ipykernel_79393/542219436.py:22: DeprecationWarning: Conversion of an array with ndim > 0 to a scalar is deprecated, and will error in future. Ensure you extract a single element from your array before performing this operation. (Deprecated NumPy 1.25.)\n",
" id = int(id)\n"
]
}
],
"source": [
"b_result_img, b_rvec, b_tvec = process(b_img, b_camera_matrix, b_distortion_coefficients)\n",
"b_result_img, b_rvec, b_tvec = process(b_img, b_mtx, b_dist)\n",
"# plt.imshow(cv2.cvtColor(b_result_img, cv2.COLOR_BGR2RGB))"
]
},
{
"cell_type": "code",
"execution_count": 8,
"execution_count": 45,
"metadata": {},
"outputs": [
{
"name": "stderr",
"output_type": "stream",
"text": [
"/var/folders/cj/0zmvpygn7m72m42lh6x_hcgw0000gn/T/ipykernel_79393/542219436.py:22: DeprecationWarning: Conversion of an array with ndim > 0 to a scalar is deprecated, and will error in future. Ensure you extract a single element from your array before performing this operation. (Deprecated NumPy 1.25.)\n",
" id = int(id)\n"
]
}
],
"source": [
"c_result_img, c_rvec, c_tvec = process(c_img, c_mtx, c_dist)\n",
"c_prime_result_img, c_prime_rvec, c_prime_tvec = process(c_prime_img, c_mtx, c_dist)"
]
},
{
"cell_type": "code",
"execution_count": 46,
"metadata": {},
"outputs": [
{
@ -292,10 +253,12 @@
{
"data": {
"text/html": [
"<pre>[{name: &#x27;a&#x27;, rvec: [[-1.04], ..., [-2.95]], tvec: [...], ...},\n",
" {name: &#x27;b&#x27;, rvec: [[0.948], ..., [2.97]], tvec: [...], ...}]\n",
"--------------------------------------------------------------\n",
"type: 2 * {\n",
"<pre>[{name: &#x27;a-ae_08&#x27;, rvec: [[-0.602], ..., [-3.05]], tvec: [...], ...},\n",
" {name: &#x27;b-ae_09&#x27;, rvec: [[0.572], ..., [3.02]], tvec: [...], ...},\n",
" {name: &#x27;c-af_03&#x27;, rvec: [[-1.98], ..., [-2.4]], tvec: [...], ...},\n",
" {name: &#x27;c-prime-af_03&#x27;, rvec: [[-1.99], ...], tvec: [...], ...}]\n",
"---------------------------------------------------------------------\n",
"type: 4 * {\n",
" name: string,\n",
" rvec: var * var * float64,\n",
" tvec: var * var * float64,\n",
@ -304,7 +267,7 @@
"}</pre>"
],
"text/plain": [
"<Array [{name: 'a', rvec: [...], ...}, ...] type='2 * {name: string, rvec: ...'>"
"<Array [{name: 'a-ae_08', rvec: ..., ...}, ...] type='4 * {name: string, rv...'>"
]
},
"metadata": {},
@ -313,16 +276,16 @@
{
"data": {
"text/plain": [
"<pyarrow._parquet.FileMetaData object at 0x17f93f830>\n",
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"execution_count": 8,
"execution_count": 46,
"metadata": {},
"output_type": "execute_result"
}
@ -331,19 +294,33 @@
"params = AwkwardArray(\n",
" [\n",
" {\n",
" \"name\": \"a\",\n",
" \"name\": \"a-ae_08\",\n",
" \"rvec\": a_rvec,\n",
" \"tvec\": a_tvec,\n",
" \"camera_matrix\": a_mtx,\n",
" \"distortion_coefficients\": a_dist,\n",
" },\n",
" {\n",
" \"name\": \"b\",\n",
" \"name\": \"b-ae_09\",\n",
" \"rvec\": b_rvec,\n",
" \"tvec\": b_tvec,\n",
" \"camera_matrix\": b_camera_matrix,\n",
" \"distortion_coefficients\": b_distortion_coefficients,\n",
" \"camera_matrix\": b_mtx,\n",
" \"distortion_coefficients\": b_dist,\n",
" },\n",
" {\n",
" \"name\": \"c-af_03\",\n",
" \"rvec\": c_rvec,\n",
" \"tvec\": c_tvec,\n",
" \"camera_matrix\": c_mtx,\n",
" \"distortion_coefficients\": c_dist\n",
" },\n",
" {\n",
" \"name\": \"c-prime-af_03\",\n",
" \"rvec\": c_prime_rvec,\n",
" \"tvec\": c_prime_tvec,\n",
" \"camera_matrix\": c_mtx,\n",
" \"distortion_coefficients\": c_dist\n",
" }\n",
" ]\n",
")\n",
"display(\"params\", params)\n",
@ -352,7 +329,7 @@
},
{
"cell_type": "code",
"execution_count": 9,
"execution_count": 47,
"metadata": {},
"outputs": [
{
@ -361,14 +338,16 @@
"True"
]
},
"execution_count": 9,
"execution_count": 47,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"cv2.imwrite(\"output/a_result_img.png\", a_result_img)\n",
"cv2.imwrite(\"output/b_result_img.png\", b_result_img)"
"cv2.imwrite(\"output/b_result_img.png\", b_result_img)\n",
"cv2.imwrite(\"output/c_result_img.png\", c_result_img)\n",
"cv2.imwrite(\"output/c_prime_result_img.png\", c_prime_result_img)"
]
}
],