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[distance_calculation] checkerboard detection works, calculation not yet

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Xaver Roos 2022-04-14 14:27:55 +02:00
parent 73925ffd1d
commit af9444ab26
2 changed files with 68 additions and 56 deletions
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23
etrack/calibration_functions.py
View File

@ -6,16 +6,20 @@ from IPython import embed
def crop_frame(frame, marker_positions):
# load the four marker positions
bottom_left = marker_positions[0]['bottom left corner']
bottom_right = marker_positions[0]['bottom right corner']
top_left = marker_positions[0]['top left corner']
top_right = marker_positions[0]['top right corner']
bottom_left_x = marker_positions[0]['bottom left corner'][0]
bottom_left_y = marker_positions[0]['bottom left corner'][1]
bottom_right_x = marker_positions[0]['bottom right corner'][0]
bottom_right_y = marker_positions[0]['bottom right corner'][1]
top_left_x = marker_positions[0]['top left corner'][0]
top_left_y = marker_positions[0]['top left corner'][1]
top_right_x = marker_positions[0]['top right corner'][0]
top_right_y = marker_positions[0]['top right corner'][1]
# define boundaries of frame, taken by average of points on same line but slightly different pixel values
left_bound = int(np.mean([bottom_left[0], top_left[0]]))
right_bound = int(np.mean([bottom_right[0], top_right[0]]))
top_bound = int(np.mean([top_left[1], top_right[1]]))
bottom_bound = int(np.mean([bottom_left[1], bottom_right[1]]))
left_bound = int(np.mean([bottom_left_x, top_left_x]))
right_bound = int(np.mean([bottom_right_x, top_right_x]))
top_bound = int(np.mean([top_left_y, top_right_y]))
bottom_bound = int(np.mean([bottom_left_y, bottom_right_y]))
# crop the frame by boundary values
crop_frame = frame[top_bound:bottom_bound, left_bound:right_bound]
@ -33,7 +37,7 @@ def crop_frame(frame, marker_positions):
x_width = np.arange(0, len(diff_width), 1)
x_height = np.arange(0, len(diff_height), 1)
return frame_width, frame_height, diff_width, diff_height, x_width, x_height
return crop_frame, frame_width, frame_height, diff_width, diff_height, x_width, x_height
def rotation_angle():
pass
@ -63,7 +67,6 @@ def threshold_crossings(data, threshold_factor):
if lower_idx < half_window_size: # ..if indice smaller than window size near indice 0
half_window_size = lower_idx
lower_window = data[lower_idx[0] - int(half_window_size):lower_idx[0] + int(half_window_size)] # create data window from -window_size to +window_size
min_window = np.min(lower_window) # take minimum of window
min_idx = np.where(data == min_window) # find indice where minimum is

101
etrack/distance_calibration.py
View File

@ -14,9 +14,8 @@ from calibration_functions import crop_frame, threshold_crossings, checkerboard_
class DistanceCalibration():
def __init__(self, file_name, frame_number, x_0=154, y_0=1318, cam_dist=1.36, width=1.35, height=0.805, width_pixel=1900, height_pixel=200, checkerboard_width=0.24, checkerboard_height=0.18,
checkerboard_width_pixel=500, checkerboard_height_pixel=350, rectangle_width=0.024, rectangle_height=0.0225, rectangle_width_pixel=100, rectangle_height_pixel=90,
rectangle_count_width=9, rectangle_count_height=7) -> None:
def __init__(self, file_name, frame_number, x_0=154, y_0=1318, cam_dist=1.36, tank_width=1.35, tank_height=0.805, width_pixel=1900, height_pixel=200,
checkerboard_width=0.24, checkerboard_height=0.18, checkerboard_width_pixel=500, checkerboard_height_pixel=350) -> None:
super().__init__()
# aktualisieren
"""Calibration of the dimensions of the tank. Conversion of pixel into meter. Width refers to the "x-axis", height to the "y-axis" of the tank.
@ -42,21 +41,16 @@ class DistanceCalibration():
self._width_pix = width_pixel
self._height_pix = height_pixel
self._cam_dist = cam_dist
self._width = width
self._height = height
self._tank_width = tank_width
self._tank_height = tank_height
self._cb_width = checkerboard_width
self._cb_height = checkerboard_height
self._cb_width_pix = checkerboard_width_pixel
self._cb_height_pix = checkerboard_height_pixel
self._rect_width = rectangle_width
self._rect_height = rectangle_height
self._x_factor = self.width / self.width_pix # m/pix
self._y_factor = self.height / self.height_pix # m/pix
self._x_factor = tank_width / width_pixel # m/pix
self._y_factor = tank_height / height_pixel # m/pix
# self.mark_crop_positions
# self.threshold_crossings
# self.checkerboard_position
# self.filter_data
self.distance_calculation
@property
def x_0(self):
@ -175,7 +169,7 @@ class DistanceCalibration():
# care: y-axis is inverted, top values are low, bottom values are high
frame_width, frame_height, diff_width, diff_height, _, _ = crop_frame(frame, marker_positions) # crop frame to given marker positions
croped_frame, frame_width, frame_height, diff_width, diff_height, _, _ = crop_frame(frame, marker_positions) # crop frame to given marker positions
thresh_fact = 7 # factor by which the min/max is divided to calculate the upper and lower thresholds
@ -191,51 +185,65 @@ class DistanceCalibration():
print('lower crossings:', lci_width)
print('upper crossings:', uci_width)
# position of checkerboard in width
print('width..')
width_position, left_width_position, right_width_position = checkerboard_position(lci_width, uci_width)
# position of checkerboard in height
print('height..')
height_position, left_height_position, right_height_position = checkerboard_position(lci_height, uci_height) # check if working
height_position, left_height_position, right_height_position = checkerboard_position(lci_height, uci_height) # left height refers to top, right height to bottom
# final corner positions of checkerboard
top_left = np.array([left_width_position, left_height_position])
top_right = np.array([right_width_position, left_height_position])
bottom_left = np.array([left_width_position, right_height_position])
bottom_right = np.array([right_width_position, right_height_position])
print(top_left, top_right, bottom_left, bottom_right)
fig, ax = plt.subplots()
ax.imshow(frame)
# ax.autoscale(False)
for p in top_left, top_right, bottom_left, bottom_right:
ax.scatter(p[0], p[1])
ax.set_xlim(bottom_left_marker[0], bottom_right_marker[0])
ax.set_ylim(bottom_left_marker[1], top_left_marker[1])
# plt.show()
# locations of checkerboard position do not yet fit the ones of the frame yet (visually checked)
# fig, ax = plt.subplots()
# ax.imshow(croped_frame)
# for p in top_left, top_right, bottom_left, bottom_right:
# ax.scatter(p[0], p[1])
# plt.show()
# embed()
# quit()
# find which indices (=pixels) represent edges of checkerboard by the corresponding sequence of ups and downs
# both for width and height
# assign x and y positions for the checkerboard corners
return top_left, top_right, bottom_left, bottom_right
def distance_calculation(self, top_left, top_right, bottom_left, bottom_right, marker_positions):
checkerboard_width = 0.24
checkerboard_height = 0.18
checkerboard_width_pixel = top_right[0] - top_left[0]
checkerboard_height_pixel = bottom_right[1] - top_right[1]
x_factor = checkerboard_width / checkerboard_width_pixel
y_factor = checkerboard_height / checkerboard_height_pixel
# pixel to meter factor for default position with checkerboard in center of tank underneath camera
bottom_left_x = marker_positions[0]['bottom left corner'][0]
bottom_left_y = marker_positions[0]['bottom left corner'][1]
bottom_right_x = marker_positions[0]['bottom right corner'][0]
bottom_right_y = marker_positions[0]['bottom right corner'][1]
top_left_x = marker_positions[0]['top left corner'][0]
top_left_y = marker_positions[0]['top left corner'][1]
top_right_x = marker_positions[0]['top right corner'][0]
top_right_y = marker_positions[0]['top right corner'][1]
tank_width_pixel = np.mean([bottom_right_x - bottom_left_x, top_right_x - top_left_x])
tank_height_pixel = np.mean([bottom_left_y - top_left_y, bottom_right_y - top_right_y])
tank_width = tank_width_pixel * x_factor
tank_height = tank_height_pixel * y_factor
# plt.plot(diff_width)
plt.plot(diff_width)
# plt.axhline(np.min(diff_height) / thresh_fact)
# plt.axhline(np.max(diff_height) / thresh_fact)
for l in lci_width:
plt.axvline(l, color='yellow')
for u in uci_width:
plt.axvline(u, color='green')
# plt.plot(frame_width, label='height')
# plt.plot(frame_width, label='width')
plt.legend()
plt.show()
print(tank_width, tank_height)
embed()
quit()
pass
if __name__ == "__main__":
file_name = "/home/efish/etrack/videos/2022.03.28_3.mp4"
@ -244,10 +252,11 @@ if __name__ == "__main__":
# marker_positions = dc.mark_crop_positions()
dc.detect_checkerboard(file_name, frame_number=frame_number, marker_positions=np.load('marker_positions.npy', allow_pickle=True))
# print(sys.argv[0])
# print (sys.argv[1])
# vid1 = sys.argv[1]
top_left, top_right, bottom_left, bottom_right = dc.detect_checkerboard(file_name, frame_number=frame_number, marker_positions=np.load('marker_positions.npy', allow_pickle=True))
dc.distance_calculation(top_left, top_right, bottom_left, bottom_right, marker_positions = np.load('marker_positions.npy', allow_pickle=True))
# mark_crop_positions why failing plot at end?
# with rectangles of checkerboard?
# embed()