Extra test foto

This commit is contained in:
Tom Selier 2023-09-19 20:39:35 +02:00
parent 4272a683d3
commit 240ba98bb2
6 changed files with 149 additions and 44 deletions

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@ -1,14 +1,53 @@
"""
Script to extract 10cm x 10cm images from the template
Accounts for (minor) rotation.
command:
python template.py input_folder output_folder
volgorde maakt uit! heb niet die fancy library gebruikt
Auteurs:
Tom Selier
Arne van Iterson
"""
import cv2
import numpy as np
import sys
import os
import math as m
# command:
# python template.py input_folder output_folder
## Parameters ##
# [%] Schaal output in percentages
SCHAAL = 25
# [mm] 120 op calib a4, 180 op template
CALIB_AFSTAND = 120
# [mm] design foutje, 10 op a4, 15 op template
CORRECTIE = 15
# [mm] mm om af te snijden
OFFSET = 20
# Toon plaatjes (forceert pauze)
PLAATJES = False
# Wacht na elke plaatje op toets
PAUZE = False
# Sla plaatjes op
SAVE = False
# extra info
VERBOSE = True
# Returns the correct corner based on IDs
def getCorner(id):
"""
Returns the correct corner based on IDs
"""
if(id == 0):
return 2
if(id == 1):
@ -18,8 +57,25 @@ def getCorner(id):
if(id == 3):
return 1
if(len(sys.argv) != 3):
print("Wrong amount of arguments")
def findMax(array, index):
"""
Vind max voor een rare list van tuples
"""
max_val = int(0)
for element in array:
if element[index] > max_val:
max_val = element[index]
return max_val
def findMin(array, index):
"""
Vind min voor een rare list van tuples
"""
min_val = int(10e6)
for element in array:
if element[index] < min_val:
min_val = element[index]
return min_val
input_folder = sys.argv[1]
output_folder = sys.argv[2]
@ -32,36 +88,42 @@ if(not os.path.isdir(output_folder)):
print("Output folder not found")
exit()
scale_percentage = 25
# Aruco params
### ARUCO PARAMETERS ###
detector_params = cv2.aruco.DetectorParameters()
dictionary = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_ARUCO_ORIGINAL)
detector = cv2.aruco.ArucoDetector(dictionary, detector_params)
### IMAGE CONVERSIE ###
for file in os.listdir(input_folder):
# Laad een plaatje
## Laad plaatjes in kleur ##
filename = input_folder + '/' + file
out_filename = output_folder + '/' + file
img = cv2.imread(filename, 0)
img = cv2.imread(filename, 1)
# Rescaling
x_scale = int(img.shape[0]/100*scale_percentage)
y_scale = int(img.shape[1]/100*scale_percentage)
# print("X_scale:", x_scale)
# print("Y_scale:", y_scale)
if VERBOSE:
print(file)
# Detecteer markers
## Herschaal de fotos ##
(h, w) = img.shape[:2]
x_scale = int(w/100*SCHAAL)
y_scale = int(h/100*SCHAAL)
small_img = cv2.resize(img, (x_scale, y_scale))
(h_small, w_small) = small_img.shape[:2]
if VERBOSE:
print("Van %dx%dpx naar %dx%dpx geschaald"%(h,w,h_small,w_small))
## Detecteer aruco markers ##
(corners, ids, rejected) = detector.detectMarkers(small_img)
new_image = cv2.aruco.drawDetectedMarkers(
small_img,
corners,
ids)
assert len(ids) == 4, "Not enough markers found in " + str(file)
if VERBOSE:
print("%d markers gedetecteerd" %len(ids))
assert len(ids) == 4, "Not enough markers found"
# Zoek de "binneste" hoekjes
## Zoek de 'binnenste' hoekjes ##
i = 0
x = np.zeros(4, dtype=np.int32)
y = np.zeros(4, dtype=np.int32)
@ -71,15 +133,18 @@ for file in os.listdir(input_folder):
cv2.circle(
new_image,
(x[i], y[i]),
radius=5,
color=(255, 100, 255),
radius=3,
color=(0, 254, 254),
thickness=-1)
print("x[%d]: %d"%(i, x[i]))
print("y[%d]: %d"%(i, y[i]))
print()
i += 1
if VERBOSE:
print("Gedecteerde hoekjes (recht): ")
print("\t x: ", end='')
print(x)
print("\t y: ", end='')
print(y)
# Draai plaatje om 0 en 1 gelijk te trekken
## Draai de plaatjes recht ##
x0 = x[np.where(ids == 0)[0][0]]
x1 = x[np.where(ids == 1)[0][0]]
x_dif = x0-x1
@ -88,29 +153,69 @@ for file in os.listdir(input_folder):
y1 = y[np.where(ids == 1)[0][0]]
y_dif = y0 - y1
angle_error_rad = np.arctan(y_dif/x_dif)
angle_error_deg = angle_error_rad * 180.0 / m.pi
print("Hoek deg", angle_error_deg)
angle_rad = np.arctan(y_dif/x_dif)
angle_deg = angle_rad * 180.0 / np.pi
if(VERBOSE):
print("%d graden gedraaid"%angle_deg)
# Calibreer afstand tov afstand tussen 0 en 1
(cX, cY) = (w_small // 2, h_small // 2)
matrix = cv2.getRotationMatrix2D((cX, cY), angle_deg, 1.0)
warp_img = cv2.warpAffine(new_image, matrix, (w_small, h_small))
## Herdetecteer de binnenste hoekjes op de gedraaide plaatjes ##
mask = cv2.inRange(warp_img, (0, 253, 253), (0, 255, 255))
warped_corners = []
for i in range(4):
coordinate = cv2.minMaxLoc(mask)[3]
warped_corners.append(coordinate)
cv2.circle(mask, warped_corners[i], 10, (0, 0, 0), -1)
# Teken rode balken
if VERBOSE:
print("Gedecteerde hoekjes (gedraaid): ")
print("\t", warped_corners)
## Teken rode balken voor controle ##
# feature voor ooit, nogal lastig
# Crop
offset = 180
crop_img = new_image[
np.min(x+offset):np.max(x-offset),
np.min(y+offset):np.max(y-offset)
]
## Calibratie van afstand met betrekking tot pixels ##
x_min = w_small
x_max = 0
for corner in warped_corners:
# vind x waarden bovenaan
(x, y) = corner
if y < (h_small // 2):
if x < x_min:
x_min = x
else:
x_max = x
x_diff = x_max - x_min
calib_scale = x_diff / CALIB_AFSTAND
if VERBOSE:
print("Berekende schaal: %d pixels/mm"%calib_scale)
# Check voor rode balken
cv2.imshow('window', new_image)
## Crop de plaatjes ##
top_left_x = findMin(warped_corners, 0)
top_left_y = findMin(warped_corners, 1)
bot_right_x = findMax(warped_corners, 0)
bot_right_y = findMax(warped_corners, 1)
offset = int((OFFSET+CORRECTIE)*calib_scale)
crop_img = warp_img[
top_left_y+offset:bot_right_y-offset,
top_left_x+offset:bot_right_x-offset]
## Check voor rode balken ##
# zie boven
## Output ##
if PLAATJES:
cv2.imshow('window', warp_img)
cv2.imshow('cropped', crop_img)
# Keur af of sla op
# cv2.imwrite(out_filename, new_image)
if SAVE:
cv2.imwrite(out_filename, crop_img)
if PAUZE or PLAATJES:
cv2.waitKey(0)
cv2.destroyAllWindows
if VERBOSE:
print("=============================================")
cv2.destroyAllWindows()