| from __future__ import print_function
|
|
|
| import os, tempfile, numpy as np
|
|
|
| import sys
|
| import cv2 as cv
|
| from tests_common import NewOpenCVTests
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| import gen_pattern
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|
|
| class aruco_objdetect_test(NewOpenCVTests):
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|
|
| def test_aruco_dicts(self):
|
| try:
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| from svglib.svglib import svg2rlg
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| from reportlab.graphics import renderPM
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| except:
|
| raise self.skipTest("libraies svglib and reportlab not found")
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| else:
|
| cols = 3
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| rows = 5
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| square_size = 100
|
| aruco_type = [cv.aruco.DICT_4X4_1000, cv.aruco.DICT_5X5_1000, cv.aruco.DICT_6X6_1000,
|
| cv.aruco.DICT_7X7_1000, cv.aruco.DICT_ARUCO_ORIGINAL, cv.aruco.DICT_APRILTAG_16h5,
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| cv.aruco.DICT_APRILTAG_25h9, cv.aruco.DICT_APRILTAG_36h10, cv.aruco.DICT_APRILTAG_36h11]
|
| aruco_type_str = ['DICT_4X4_1000','DICT_5X5_1000', 'DICT_6X6_1000',
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| 'DICT_7X7_1000', 'DICT_ARUCO_ORIGINAL', 'DICT_APRILTAG_16h5',
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| 'DICT_APRILTAG_25h9', 'DICT_APRILTAG_36h10', 'DICT_APRILTAG_36h11']
|
| marker_size = 0.8*square_size
|
| board_width = cols*square_size
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| board_height = rows*square_size
|
|
|
| for aruco_type_i in range(len(aruco_type)):
|
|
|
| aruco_dict = cv.aruco.getPredefinedDictionary(aruco_type[aruco_type_i])
|
| board = cv.aruco.CharucoBoard((cols, rows), square_size, marker_size, aruco_dict)
|
| charuco_detector = cv.aruco.CharucoDetector(board)
|
| from_cv_img = board.generateImage((cols*square_size, rows*square_size))
|
|
|
|
|
| fd1, filesvg = tempfile.mkstemp(prefix="out", suffix=".svg")
|
| os.close(fd1)
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| fd2, filepng = tempfile.mkstemp(prefix="svg_marker", suffix=".png")
|
| os.close(fd2)
|
|
|
| try:
|
| basedir = os.path.abspath(os.path.dirname(__file__))
|
| pm = gen_pattern.PatternMaker(cols, rows, filesvg, "px", square_size, 0, board_width,
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| board_height, "charuco_checkboard", marker_size,
|
| os.path.join(basedir, aruco_type_str[aruco_type_i]+'.json.gz'))
|
| pm.make_charuco_board()
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| pm.save()
|
| drawing = svg2rlg(filesvg)
|
| renderPM.drawToFile(drawing, filepng, fmt='PNG', dpi=72)
|
| from_svg_img = cv.imread(filepng)
|
| _charucoCorners, _charuco_ids_svg, marker_corners_svg, marker_ids_svg = charuco_detector.detectBoard(from_svg_img)
|
| _charucoCorners, _charuco_ids_cv, marker_corners_cv, marker_ids_cv = charuco_detector.detectBoard(from_cv_img)
|
| marker_corners_svg_map, marker_corners_cv_map = {}, {}
|
| for i in range(len(marker_ids_svg)):
|
| marker_corners_svg_map[int(marker_ids_svg[i][0])] = marker_corners_svg[i]
|
| for i in range(len(marker_ids_cv)):
|
| marker_corners_cv_map[int(marker_ids_cv[i][0])] = marker_corners_cv[i]
|
|
|
| for key_svg in marker_corners_svg_map.keys():
|
| marker_svg = marker_corners_svg_map[key_svg]
|
| marker_cv = marker_corners_cv_map[key_svg]
|
| np.testing.assert_allclose(marker_svg, marker_cv, 0.1, 0.1)
|
| finally:
|
| if os.path.exists(filesvg):
|
| os.remove(filesvg)
|
| if os.path.exists(filepng):
|
| os.remove(filepng)
|
|
|
| def test_aruco_marker_sizes(self):
|
| try:
|
| from svglib.svglib import svg2rlg
|
| from reportlab.graphics import renderPM
|
| except:
|
| raise self.skipTest("libraies svglib and reportlab not found")
|
| else:
|
| cols = 3
|
| rows = 5
|
| square_size = 100
|
| aruco_type = cv.aruco.DICT_5X5_1000
|
| aruco_type_str = 'DICT_5X5_1000'
|
| marker_sizes_rate = [0.25, 0.5, 0.75, 0.9]
|
| board_width = cols*square_size
|
| board_height = rows*square_size
|
|
|
| for marker_s_rate in marker_sizes_rate:
|
| marker_size = marker_s_rate*square_size
|
|
|
| aruco_dict = cv.aruco.getPredefinedDictionary(aruco_type)
|
| board = cv.aruco.CharucoBoard((cols, rows), square_size, marker_size, aruco_dict)
|
| charuco_detector = cv.aruco.CharucoDetector(board)
|
| from_cv_img = board.generateImage((cols*square_size, rows*square_size))
|
|
|
|
|
| fd1, filesvg = tempfile.mkstemp(prefix="out", suffix=".svg")
|
| os.close(fd1)
|
| fd2, filepng = tempfile.mkstemp(prefix="svg_marker", suffix=".png")
|
| os.close(fd2)
|
|
|
| try:
|
| basedir = os.path.abspath(os.path.dirname(__file__))
|
| pm = gen_pattern.PatternMaker(cols, rows, filesvg, "px", square_size, 0, board_width,
|
| board_height, "charuco_checkboard", marker_size, os.path.join(basedir, aruco_type_str+'.json.gz'))
|
| pm.make_charuco_board()
|
| pm.save()
|
| drawing = svg2rlg(filesvg)
|
| renderPM.drawToFile(drawing, filepng, fmt='PNG', dpi=72)
|
| from_svg_img = cv.imread(filepng)
|
|
|
|
|
| _charucoCorners, _charuco_ids_svg, marker_corners_svg, marker_ids_svg = charuco_detector.detectBoard(from_svg_img)
|
| _charucoCorners, _charuco_ids_cv, marker_corners_cv, marker_ids_cv = charuco_detector.detectBoard(from_cv_img)
|
| marker_corners_svg_map, marker_corners_cv_map = {}, {}
|
| for i in range(len(marker_ids_svg)):
|
| marker_corners_svg_map[int(marker_ids_svg[i][0])] = marker_corners_svg[i]
|
| for i in range(len(marker_ids_cv)):
|
| marker_corners_cv_map[int(marker_ids_cv[i][0])] = marker_corners_cv[i]
|
|
|
| for key_svg in marker_corners_svg_map.keys():
|
| marker_svg = marker_corners_svg_map[key_svg]
|
| marker_cv = marker_corners_cv_map[key_svg]
|
| np.testing.assert_allclose(marker_svg, marker_cv, 0.1, 0.1)
|
| finally:
|
| if os.path.exists(filesvg):
|
| os.remove(filesvg)
|
| if os.path.exists(filepng):
|
| os.remove(filepng) |
