def get_calibration_params() -> Tuple[int, int, str, str]:
sb.markdown("Params of cameara calibration porcesss")
path_to_camera_params = sb.text_input("Path to camera params",
"camera_params.json")
board_height = sb.number_input("Board height",
min_value=3,
max_value=100,
value=9)
board_width = sb.number_input("Board width",
min_value=3,
max_value=100,
value=6)
path_to_images = sb.text_input("Path to images with board",
"./src/data/calibration")
return board_height, board_width, path_to_images, path_to_camera_params
def get_aruco_marker_params() -> Tuple[str, int, float]:
sb.markdown("Params of marker")
marker_size = sb.selectbox("Chose aruco marker size",
("7x7", "6x6", "5x5", "4x4"))
marker_idx = sb.number_input("Select marker index",
min_value=0,
max_value=250,
value=23)
dictionary = cv2.aruco.Dictionary_get(ARUCO_MARKER_SIZE[marker_size])
marker_image = cv2.aruco.drawMarker(dictionary, marker_idx, 75, 1)
sb.image(marker_image)
marker_world_size = sb.number_input("Lenght of real world marker",
min_value=0.0,
max_value=100.0,
value=0.05)
return marker_size, marker_idx, marker_world_size
def get_detector_params() -> Tuple[float, int, int]:
sb.markdown("Params of detector")
scale_factor_feat_det = sb.slider('Chose scale factor for feature detector', 1.01, 1.3, 1.01)
max_num_of_features = sb.slider("Select number of features", 30, 5000, 1000)
num_of_levels = sb.number_input("Write number of level for feature detector",
min_value=2, max_value=16, value=16)
return scale_factor_feat_det, max_num_of_features, num_of_levels
def get_camera_params() -> Tuple[int, int]:
sb.markdown("Params of camera")
frame_width = sb.number_input("Width of input frame",
min_value=120,
max_value=1920,
value=640)
frame_height = int(3 / 4 * frame_width)
return frame_width, frame_height
def get_workzone_params() -> Tuple[int, int, int, int]:
sb.markdown("Params of robot workzone")
wz_center_x = sb.number_input("X coordinate of workzone center",
min_value=0,
max_value=500,
value=0)
wz_center_y = sb.number_input("Y coordinate of workzone center",
min_value=0,
max_value=500,
value=0)
wz_height = sb.number_input("Height of workzone",
min_value=1,
max_value=100,
value=14)
wz_width = sb.number_input("Width of workzone",
min_value=1,
max_value=100,
value=14)
return wz_center_x, wz_center_y, wz_height, wz_width
def get_marker_params(frame_height: int) -> Tuple[int, str, str]:
sb.markdown("Params of marker")
marker_size = sb.number_input("Size of marker",
min_value=6,
max_value=frame_height,
value=64)
path_to_marker = sb.text_input("Write path to custom marker in .jpg or .png formats",
"./src/data/markers/marker23.png")
full_path_to_marker = os.path.abspath(path_to_marker)
path_to_obj = sb.text_input("Write path to custom area form",
"./src/data/3dmodels/Cylinder.obj")
full_path_to_obj = os.path.abspath(path_to_obj)
return marker_size, full_path_to_marker, full_path_to_obj
def get_model_params() -> float:
sb.markdown("Params of 3d model")
return sb.number_input("Write scaled factor for 3d model of workzone",
1e-4, 1e4, 10.0)