def test_chessboardB(self):
config_detector = pb.ConfigChessboardBinary()
config_target = pb.ConfigGridDimen(5, 6, 0.30)
pb.FactoryFiducialCalibration.chessboardB(config_target,
config_detector)
pb.FactoryFiducialCalibration.chessboardB(config_target)
#!/usr/bin/env python3
import pyboof as pb
import numpy as np
import os
import cv2
# Demonstration of how to detect points in a calibration target
data_path = "../data/example/calibration/stereo/Bumblebee2_Chess/"
print("Configuring and creating a chessboard detector")
config_grid = pb.ConfigGridDimen(num_rows=5, num_cols=7, square_width=0.3)
detector = pb.FactoryFiducialCalibration.chessboardB(config_grid)
print("Detecting image")
image = pb.load_single_band(os.path.join(data_path, "left01.jpg"), np.float32)
detector.detect(image)
print("Detected points {}".format(len(detector.detected_points)))
# Convert it into a color image for visualization purposes
ndimage = pb.boof_to_ndarray(image).astype(np.uint8)
ndimage = cv2.cvtColor(ndimage, cv2.COLOR_GRAY2RGB)
# Draw green dots with red outlines
for x in detector.detected_points:
# x[0] is index of the control point
# x[1] and x[2] is the (x,y) pixel coordinate, sub-pixel precision
cv2.circle(ndimage, (int(x[1]), int(x[2])), 7, (0, 0, 255), -1)
cv2.circle(ndimage, (int(x[1]), int(x[2])), 5, (0, 255, 0), -1)
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_circle_regular_grid(self):
config_detector = pb.ConfigCircleRegularGrid()
config_target = pb.ConfigGridDimen(5, 6, 0.30)
pb.FactoryFiducialCalibration.circle_regular_grid(
config_target, config_detector)
def test_circle_hexagonal_grid(self):
config_detector = pb.ConfigCircleHexagonalGrid()
config_target = pb.ConfigGridDimen(5, 6, 0.30)
pb.FactoryFiducialCalibration.circle_hexagonal_grid(
config_target, config_detector)
def test_square_grid(self):
config_detector = pb.ConfigSquareGrid()
config_target = pb.ConfigGridDimen(5, 6, 0.30)
pb.FactoryFiducialCalibration.square_grid(config_target,
config_detector)
