def _show_marker_det_img_folder(marker_path, img_data_path, det_file_name,
block):
# load detections
det_file = os.path.join(img_data_path, det_file_name)
print('\tDetection file: %s' % det_file)
assert os.path.exists(det_file), 'Could not find detection file.'
det = json_load(det_file)
# check for image files
img_list = find_images(img_data_path)
print('Found %s images for marker detection.' % len(img_list))
# sanity check
assert len(det['p2d']) == len(
img_list), 'Number of detections and number of images differs.'
assert len(det['pid']) == len(
img_list), 'Number of detections and number of images differs.'
# set up detector
detector = BoardDetector(marker_path)
# show
for idx, img_p in enumerate(img_list):
img_file = os.path.basename(img_p)
if img_file not in det['files']:
print('No detection available for: %s' % img_file)
continue
img = cv2.imread(img_p)
detector.draw_board(img,
np.array(det['p2d'][idx]),
np.array(det['pid'][idx]),
block=block)
def _show_marker_det_video(marker_path, video_path, det_file_name, block):
# load detections
data_path = os.path.dirname(video_path)
det_file = os.path.join(data_path, det_file_name)
print('\tDetection file: %s' % det_file)
assert os.path.exists(det_file), 'Could not find detection file.'
det = json_load(det_file)
# check video path
video = cv2.VideoCapture(video_path)
num_frames = video.get(cv2.CAP_PROP_FRAME_COUNT)
print('Found video with %d frames.' % num_frames)
# sanity check
assert len(
det['p2d']
) == num_frames, 'Number of detections and number of frames differs.'
assert len(
det['pid']
) == num_frames, 'Number of detections and number of frames differs.'
# set up detector
detector = BoardDetector(marker_path)
# show
idx = 0
while True:
if not video.isOpened():
break
ret, img = video.read()
if not ret:
break
detector.draw_board(img,
np.array(det['p2d'][idx]),
np.array(det['pid'][idx]),
block=block)
idx += 1
def test_board_pose_estimator(show=False):
""" Test detecting Boards in images. """
import cv2
from utils.general_util import json_load
from core.BoardDetector import BoardDetector
img_list = ['./data/calib_test_data/real/april_board_tags_sample.JPG']
assert os.path.exists(img_list[0]), 'Image file not found.'
detector = BoardDetector(
'./data/calib_test_data/marker_32h11b2_4x4x_7cm.json')
point_coords_frames, point_ids_frames = detector.process_image_batch(
img_list)
gt1 = json_load('data/calib_test_data/real/gt_det1.json')
_same(point_coords_frames[0], gt1['c'])
_same(point_ids_frames[0], gt1['i'])
if show:
for img_path, points, point_ids in zip(img_list, point_coords_frames,
point_ids_frames):
image = cv2.imread(img_path)
detector.draw_board(image, points, point_ids, linewidth=2)
detector = BoardDetector(
'./data/calib_test_data/marker_16h5b1_4x4x_15cm.json')
point_coords_frames, point_ids_frames = detector.process_image_batch(
img_list)
gt2 = json_load('data/calib_test_data/real/gt_det2.json')
_same(point_coords_frames[0], gt2['c'])
_same(point_ids_frames[0], gt2['i'])
if show:
for img_path, points, point_ids in zip(img_list, point_coords_frames,
point_ids_frames):
image = cv2.imread(img_path)
detector.draw_board(image, points, point_ids, linewidth=2)
print('SUCCESS: test_board_pose_estimator')