def create_detector_drawer_chessboard():
rows = 7
cols = 6
square_size = 0.108 #108 mmc
pattern_type = CHESSBOARD
return (PatternDetector(rows=rows,
cols=cols,
pattern_type=pattern_type,
square_size=square_size),
PatternDrawer(rows=rows, cols=cols))
def create_detector_drawer_circles():
rows = 5
cols = 3
square_size = 0.04 #4 cm
pattern_type = ASYMMETRIC_CIRCLES_GRID
return (PatternDetector(rows=rows,
cols=cols,
pattern_type=pattern_type,
square_size=square_size),
PatternDrawer(rows=rows, cols=cols))
parser = argparse.ArgumentParser(description='Pose from a list of files.')
parser.add_argument('--images', nargs='+', help='A list of images.')
parser.add_argument('--camera', help='The camera file.')
args = parser.parse_args()
image_reader = ImageReader(file_list=ecto.list_of_strings(args.images))
rows = 4
cols = 5
square_size = 0.025 #2.5 cm
pattern_type = CHESSBOARD
rgb2gray = cvtColor(flag=Conversion.RGB2GRAY)
detector = PatternDetector(rows=rows,
cols=cols,
pattern_type=pattern_type,
square_size=square_size)
pattern_drawer = PatternDrawer(rows=rows, cols=cols)
camera_intrinsics = CameraIntrinsics(camera_file=args.camera)
poser = FiducialPoseFinder()
pose_drawer = PoseDrawer()
plasm = ecto.Plasm()
plasm.connect(
image_reader['image'] >> (pattern_drawer['input'], rgb2gray['image']),
rgb2gray['image'] >> detector['input'],
detector['ideal', 'out', 'found'] >> poser['ideal', 'points', 'found'],
camera_intrinsics['K'] >> poser['K'],
detector['out', 'found'] >> pattern_drawer['points', 'found'],
poser['R', 'T'] >> pose_drawer['R', 'T'],
poser['R'] >> MatPrinter(name='R')['mat'],
im2mat_rgb = ecto_ros.Image2Mat()
im2mat_depth = ecto_ros.Image2Mat()
im2info = ecto_ros.CameraInfo2Cv()
offset_x = -0.3095 #TODO: FIXME hard coded
offset_y = -0.1005
rows = 5
cols = 3
square_size = 0.1 #2.5 cm
pattern_type = ASYMMETRIC_CIRCLES_GRID
cd_bw = PatternDetector('Dot Detector, B/W',
rows=rows, cols=cols,
pattern_type=pattern_type,
square_size=square_size,
offset_x=offset_x,
offset_y=offset_y)
offset_x = 0.1505
cd_wb = PatternDetector('Dot Detector, W/B',
rows=rows, cols=cols,
pattern_type=pattern_type,
square_size=square_size,
offset_x=offset_x,
offset_y=offset_y)
circle_drawer = PatternDrawer(rows=rows, cols=cols)
circle_drawer2 = PatternDrawer(rows=rows, cols=cols)
gather = calib.GatherPoints("gather", N=2)
height = 0.216
offset_x = -(width / 2 - 0.06)
offset_y = -(height / 2 - 0.020)
print "ox", offset_x, "oy", offset_y
simulator = PlanarSim(image_name=board, width=width, height=height)
square_size = 0.02 # in meters, 2 cm
pattern_type = ASYMMETRIC_CIRCLES_GRID
pattern_show = imshow('Display', name='pattern')
rgb2gray = cvtColor('RGB -> Gray', flag=Conversion.RGB2GRAY)
circle_detector = PatternDetector(rows=rows,
cols=cols,
pattern_type=pattern_type,
square_size=square_size,
offset_x=offset_x,
offset_y=offset_y)
circle_drawer = PatternDrawer(rows=rows, cols=cols)
poser = FiducialPoseFinder()
pose_drawer = PoseDrawer()
gt_drawer = PoseDrawer()
plasm = ecto.Plasm()
plasm.connect(
simulator['image'] >> (rgb2gray['image'], circle_drawer['input']),
rgb2gray['image'] >> circle_detector['input'],
circle_detector['out', 'found'] >> circle_drawer['points', 'found'],
simulator['K'] >> poser['K'],
circle_detector['out', 'ideal', 'found'] >> poser['points', 'ideal',
'found'],