def detect_chessboard(chessboard_images,
size_of_chessboard=47,
shape_of_chessboard=(8, 6)):
# BUILD CHESSBOARD OBJECT
chessboard = phm_calib.Chessboard(size_of_chessboard, shape_of_chessboard)
for id_camera in chessboard_images:
for angle in chessboard_images[id_camera]:
im = chessboard_images[id_camera][angle]
found = chessboard.detect_corners(id_camera, angle, im)
return [chessboard],
def test_chessboard_3():
plant_number = 1
chess = phm_calib.Chessboard(50, (8, 6))
images = phm_data.chessboard_images(plant_number=plant_number)[0]
found = chess.detect_corners("side", 42, images['side'][42])
if found:
corners = chess.get_corners_2d("side")[42]
res = numpy.array(corners).astype(float)
res = numpy.around(res, decimals=2)
assert res.shape == (48, 2)
else:
assert False
def test_chessboard_3():
chess = phm_calib.Chessboard(50, (8, 6))
dir_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),
"../data/plant_1")
images = phm_data.chessboard_images(dir_path)[0]
found = chess.detect_corners("side", 42, images['side'][42])
if found:
corners = chess.get_corners_2d("side")[42]
res = numpy.array(corners).astype(float)
res = numpy.around(res, decimals=2)
assert res.shape == (48, 2)
else:
assert False
def test_chessboard_2():
chess = phm_calib.Chessboard(50, (8, 6))
result = chess.get_corners_local_3d()
assert numpy.array_equal(result[8 * 0 + 0], [0., 0., 0.])
assert numpy.array_equal(result[8 * 0 + 1], [50., 0., 0.])
assert numpy.array_equal(result[8 * 0 + 2], [100., 0., 0.])
assert numpy.array_equal(result[8 * 0 + 3], [150., 0., 0.])
assert numpy.array_equal(result[8 * 0 + 4], [200., 0., 0.])
assert numpy.array_equal(result[8 * 0 + 5], [250., 0., 0.])
assert numpy.array_equal(result[8 * 0 + 6], [300., 0., 0.])
assert numpy.array_equal(result[8 * 0 + 7], [350., 0., 0.])
assert numpy.array_equal(result[8 * 5 + 0], [0., 250., 0.])
assert numpy.array_equal(result[8 * 5 + 1], [50., 250., 0.])
assert numpy.array_equal(result[8 * 5 + 2], [100., 250., 0.])
assert numpy.array_equal(result[8 * 5 + 3], [150., 250., 0.])
assert numpy.array_equal(result[8 * 5 + 4], [200., 250., 0.])
assert numpy.array_equal(result[8 * 5 + 5], [250., 250., 0.])
assert numpy.array_equal(result[8 * 5 + 6], [300., 250., 0.])
assert numpy.array_equal(result[8 * 5 + 7], [350., 250., 0.])
def test_chessboard_1():
chess = phm_calib.Chessboard(50, (8, 6))
assert chess.square_size == 50
assert chess.shape == (8, 6)
assert chess.image_points == dict()
import openalea.phenomenal.display as phm_display
import openalea.phenomenal.calibration as phm_calib
## Detect chessboard corners in the images
## Load Images
plant_number = 1
chessboard_images = phm_data.chessboard_images(plant_number=plant_number)[0]
phm_display.show_image(chessboard_images['side'][42])
## Create chessboard object
square_size_of_chessboard = 47 # In mm
square_shape_of_chessboard = (8, 6) # (8 square x 6 square on chessboard)
# BUILD CHESSBOARD OBJECT
chessboard = phm_calib.Chessboard(square_size_of_chessboard,
square_shape_of_chessboard)
# DISPLAY IT
print chessboard
## Detect corners from images
for id_camera in chessboard_images:
for angle in chessboard_images[id_camera]:
im = chessboard_images[id_camera][angle]
found = chessboard.detect_corners(id_camera, angle, im)
print("Angle {} - Chessboard corners {}".format(angle, "found" if found else "not found"))
## Display chessboard corners on images
angle = 42
img = chessboard_images["side"][angle].copy()