72 lines
2.3 KiB
Python
72 lines
2.3 KiB
Python
'''
|
||
@ Date: 2021-04-13 16:14:36
|
||
@ Author: Qing Shuai
|
||
@ LastEditors: Qing Shuai
|
||
@ LastEditTime: 2021-05-26 15:42:02
|
||
@ FilePath: /EasyMocap/easymocap/annotator/chessboard.py
|
||
'''
|
||
import numpy as np
|
||
import cv2
|
||
|
||
def getChessboard3d(pattern, gridSize):
|
||
object_points = np.zeros((pattern[1]*pattern[0], 3), np.float32)
|
||
# 注意：这里为了让标定板z轴朝上，设定了短边是x，长边是y
|
||
object_points[:,:2] = np.mgrid[0:pattern[0], 0:pattern[1]].T.reshape(-1,2)
|
||
object_points[:, [0, 1]] = object_points[:, [1, 0]]
|
||
object_points = object_points * gridSize
|
||
return object_points
|
||
|
||
colors_chessboard_bar = [
|
||
[0, 0, 255],
|
||
[0, 128, 255],
|
||
[0, 200, 200],
|
||
[0, 255, 0],
|
||
[200, 200, 0],
|
||
[255, 0, 0],
|
||
[255, 0, 250]
|
||
]
|
||
|
||
def get_lines_chessboard(pattern=(9, 6)):
|
||
w, h = pattern[0], pattern[1]
|
||
lines = []
|
||
lines_cols = []
|
||
for i in range(w*h-1):
|
||
lines.append([i, i+1])
|
||
lines_cols.append(colors_chessboard_bar[i//w])
|
||
return lines, lines_cols
|
||
|
||
def _findChessboardCorners(img, pattern):
|
||
"basic function"
|
||
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
|
||
retval, corners = cv2.findChessboardCorners(img, pattern,
|
||
flags=cv2.CALIB_CB_ADAPTIVE_THRESH + cv2.CALIB_CB_FAST_CHECK + cv2.CALIB_CB_FILTER_QUADS)
|
||
if not retval:
|
||
return False, None
|
||
corners = cv2.cornerSubPix(img, corners, (11, 11), (-1, -1), criteria)
|
||
corners = corners.squeeze()
|
||
return True, corners
|
||
|
||
def _findChessboardCornersAdapt(img, pattern):
|
||
"Adapt mode"
|
||
img = cv2.adaptiveThreshold(img, 255,cv2.ADAPTIVE_THRESH_GAUSSIAN_C,\
|
||
cv2.THRESH_BINARY,21, 2)
|
||
return _findChessboardCorners(img, pattern)
|
||
|
||
def findChessboardCorners(img, annots, pattern):
|
||
if annots['visited']:
|
||
return None
|
||
annots['visited'] = True
|
||
gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
|
||
# Find the chess board corners
|
||
for func in [_findChessboardCornersAdapt, _findChessboardCorners]:
|
||
ret, corners = func(gray, pattern)
|
||
if ret:break
|
||
else:
|
||
return None
|
||
# found the corners
|
||
show = img.copy()
|
||
show = cv2.drawChessboardCorners(show, pattern, corners, ret)
|
||
assert corners.shape[0] == len(annots['keypoints2d'])
|
||
corners = np.hstack((corners, np.ones((corners.shape[0], 1))))
|
||
annots['keypoints2d'] = corners.tolist()
|
||
return show |