def scan(self, img_path):
detector = pb.FactoryFiducial(np.uint8).qrcode()
#Load image in grayscale
bcv_img = pb.load_single_band(img_path, np.uint8)
detector.detect(bcv_img)
if (len(detector.detections) > 0):
print(detector.detections[0].message)
return len(detector.detections) + len(detector.failures), len(
detector.detections)
def test_qrcode(self):
config_detector = pb.ConfigQrCode()
pb.FactoryFiducial(np.uint8).qrcode(config_detector)
def test_square_grid(self):
config_target = pb.ConfigGridDimen(5, 6, 0.30)
config_detector = pb.ConfigSquareGrid()
pb.FactoryFiducial(np.uint8).square_grid(config_target,
config_detector)
def test_chessboardX(self):
config_target = pb.ConfigGridDimen(5, 6, 0.30)
config_detector = pb.ConfigChessboardX()
pb.FactoryFiducial(np.uint8).chessboardX(config_target,
config_detector)
def test_square_hamming(self):
config_marker = pb.load_hamming_marker(
pb.HammingDictionary.ARUCO_ORIGINAL)
pb.FactoryFiducial(np.uint8).square_hamming(config_marker)
def test_square_binary(self):
config_detector = pb.ConfigFiducialBinary()
config_threshold = pb.ConfigThreshold.create_fixed(50.0)
pb.FactoryFiducial(np.uint8).square_binary(config_detector,
config_threshold)
def test_random_dots(self):
config_detector = pb.ConfigUchiyaMarker()
config_detector.markerWidth = 5.0
config_detector.markerHeight = 5.0
pb.FactoryFiducial(np.uint8).random_dots(config_detector)
def __init__(self):
self.detector = pb.FactoryFiducial(np.uint8).qrcode()
import pyboof as pb
import numpy as np
import os
data_path = "../data/example/fiducial/image/examples/"
# Load the camera parameters
intrinsic = pb.CameraPinhole()
intrinsic.load(os.path.join(data_path, "intrinsic.yaml"))
configFiducial = pb.ConfigFiducialImage()
configThreshold = pb.ConfigThreshold.create_local(pb.ThresholdType.LOCAL_MEAN,
10)
print("Configuring detector")
detector = pb.FactoryFiducial(np.uint8).square_image(configFiducial,
configThreshold)
detector.set_intrinsic(intrinsic)
detector.add_pattern(pb.load_single_band(
data_path + "../patterns/pentarose.png", np.uint8),
side_length=4.0)
detector.add_pattern(pb.load_single_band(data_path + "../patterns/yu.png",
np.uint8),
side_length=4.0)
print("Detecting image")
detector.detect(
pb.load_single_band(os.path.join(data_path, "image00.jpg"), np.uint8))
print("Number Found = " + str(detector.get_total()))
for i in range(detector.get_total()):
#!/usr/bin/env python3
import numpy as np
import pyboof as pb
# Detects all the QR Codes in the image and prints their message and location
data_path = "../data/example/fiducial/qrcode/image03.jpg"
detector = pb.FactoryFiducial(np.uint8).qrcode()
image = pb.load_single_band(data_path, np.uint8)
detector.detect(image)
print("Detected a total of {} QR Codes".format(len(detector.detections)))
for qr in detector.detections:
print("Message: " + qr.message)
print(" at: " + str(qr.bounds))
data_path = "../data/example/fiducial/square_hamming/aruco_25h7"
# Load the camera parameters
intrinsic = pb.CameraPinhole()
intrinsic.load(os.path.join(data_path, "intrinsic.yaml"))
# Load a pre-built dictionary
config_marker = pb.load_hamming_marker(pb.HammingDictionary.ARUCO_MIP_25h7)
# Tweak the detector. None class be passed in for the detector
config_detector = pb.ConfigFiducialHammingDetector()
config_detector.configThreshold.type = pb.ThresholdType.LOCAL_MEAN
print("Creating the detector")
detector = pb.FactoryFiducial(np.uint8).square_hamming(config_marker,
config_detector)
print("Detecting image")
detector.detect(
pb.load_single_band(os.path.join(data_path, "image01.jpg"), np.uint8))
print("Number Found = " + str(detector.get_total()))
for i in range(detector.get_total()):
print("=========== Found #" + str(i))
fid_to_cam = detector.get_fiducial_to_camera(i)
print("Pattern ID = " + str(detector.get_id(i)))
print("Image Location " + str(detector.get_center(i)))
if detector.is_3d():
print("Rotation")
print(" " + str(fid_to_cam.get_rotation()))
import pyboof as pb
import numpy as np
import os
data_path = "../data/example/fiducial/random_dots/"
# Enable use of memory mapped files for MUCH faster conversion between some python and boofcv data types
pb.init_memmap()
# Load marker descriptions
defs = pb.load_random_dot_yaml(os.path.join(data_path, "descriptions.yaml"))
# Create the detector
config = pb.ConfigUchiyaMarker()
config.markerLength = defs.markerWidth
detector = pb.FactoryFiducial(np.uint8).random_dots(config)
# Load / learn all the markers. This can take a few seconds if there are a lot of markers
for marker in defs.markers:
detector.add_marker(marker)
# Load the image and process it
gray_image = pb.load_single_band(os.path.join(data_path, "image02.jpg"), np.uint8)
detector.detect(gray_image)
# Print out the location of found markers
for i in range(detector.get_total()):
print("=========== Found #{}".format(i))
fid_to_cam = detector.get_fiducial_to_camera(i)
print("Pattern ID = "+str(detector.get_id(i)))
print("Image Location " + str(detector.get_center(i)))
import pyboof as pb
import numpy as np
data_path = "../../../data/applet/fiducial/image/examples/"
# Load the camera parameters
intrinsic = pb.Intrinsic()
intrinsic.load_xml(data_path + "intrinsic.xml")
config = pb.ConfigFiducialImage()
print "Configuring detector"
detector = pb.FactoryFiducial(np.uint8).squareRobust(config, 6)
detector.setIntrinsic(intrinsic)
detector.addPattern(
pb.load_single_band(data_path + "../patterns/chicken.png", np.uint8), 4.0)
detector.addPattern(
pb.load_single_band(data_path + "../patterns/yu.png", np.uint8), 4.0)
print "Detecting image"
detector.detect(pb.load_single_band(data_path + "image01.jpg", np.uint8))
print "Number Found = " + str(detector.totalFound())
for i in range(detector.totalFound()):
print "=========== Found " + str(i)
fid_to_cam = detector.getFiducialToCamera(i)
# print fid_to_cam
print "Rotation"
print " " + str(fid_to_cam.get_rotation())
