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#!/usr/bin/env python
"""gen_pattern.py
Usage example:
python gen_pattern.py -o out.svg -r 11 -c 8 -T circles -s 20.0 -R 5.0 -u mm -w 216 -h 279
-o, --output - output file (default out.svg)
-r, --rows - pattern rows (default 11)
-c, --columns - pattern columns (default 8)
-T, --type - type of pattern, circles, acircles, checkerboard, radon_checkerboard (default circles)
-s, --square_size - size of squares in pattern (default 20.0)
-R, --radius_rate - circles_radius = square_size/radius_rate (default 5.0)
-u, --units - mm, inches, px, m (default mm)
-w, --page_width - page width in units (default 216)
-h, --page_height - page height in units (default 279)
-a, --page_size - page size (default A4), supersedes -h -w arguments
-m, --markers - list of cells with markers for the radon checkerboard
-H, --help - show help
"""
import argparse
from svgfig import *
class PatternMaker:
def __init__(self, cols, rows, output, units, square_size, radius_rate, page_width, page_height, markers):
self.cols = cols
self.rows = rows
self.output = output
self.units = units
self.square_size = square_size
self.radius_rate = radius_rate
self.width = page_width
self.height = page_height
self.markers = markers
self.g = SVG("g") # the svg group container
def make_circles_pattern(self):
spacing = self.square_size
r = spacing / self.radius_rate
pattern_width = ((self.cols - 1.0) * spacing) + (2.0 * r)
pattern_height = ((self.rows - 1.0) * spacing) + (2.0 * r)
x_spacing = (self.width - pattern_width) / 2.0
y_spacing = (self.height - pattern_height) / 2.0
for x in range(0, self.cols):
for y in range(0, self.rows):
dot = SVG("circle", cx=(x * spacing) + x_spacing + r,
cy=(y * spacing) + y_spacing + r, r=r, fill="black", stroke="none")
self.g.append(dot)
def make_acircles_pattern(self):
spacing = self.square_size
r = spacing / self.radius_rate
pattern_width = ((self.cols-1.0) * 2 * spacing) + spacing + (2.0 * r)
pattern_height = ((self.rows-1.0) * spacing) + (2.0 * r)
x_spacing = (self.width - pattern_width) / 2.0
y_spacing = (self.height - pattern_height) / 2.0
for x in range(0, self.cols):
for y in range(0, self.rows):
dot = SVG("circle", cx=(2 * x * spacing) + (y % 2)*spacing + x_spacing + r,
cy=(y * spacing) + y_spacing + r, r=r, fill="black", stroke="none")
self.g.append(dot)
def make_checkerboard_pattern(self):
spacing = self.square_size
xspacing = (self.width - self.cols * self.square_size) / 2.0
yspacing = (self.height - self.rows * self.square_size) / 2.0
for x in range(0, self.cols):
for y in range(0, self.rows):
if x % 2 == y % 2:
square = SVG("rect", x=x * spacing + xspacing, y=y * spacing + yspacing, width=spacing,
height=spacing, fill="black", stroke="none")
self.g.append(square)
@staticmethod
def _make_round_rect(x, y, diam, corners=("right", "right", "right", "right")):
rad = diam / 2
cw_point = ((0, 0), (diam, 0), (diam, diam), (0, diam))
mid_cw_point = ((0, rad), (rad, 0), (diam, rad), (rad, diam))
res_str = "M{},{} ".format(x + mid_cw_point[0][0], y + mid_cw_point[0][1])
n = len(cw_point)
for i in range(n):
if corners[i] == "right":
res_str += "L{},{} L{},{} ".format(x + cw_point[i][0], y + cw_point[i][1],
x + mid_cw_point[(i + 1) % n][0], y + mid_cw_point[(i + 1) % n][1])
elif corners[i] == "round":
res_str += "A{},{} 0,0,1 {},{} ".format(rad, rad, x + mid_cw_point[(i + 1) % n][0],
y + mid_cw_point[(i + 1) % n][1])
else:
raise TypeError("unknown corner type")
return res_str
def _get_type(self, x, y):
corners = ["right", "right", "right", "right"]
is_inside = True
if x == 0:
corners[0] = "round"
corners[3] = "round"
is_inside = False
if y == 0:
corners[0] = "round"
corners[1] = "round"
is_inside = False
if x == self.cols - 1:
corners[1] = "round"
corners[2] = "round"
is_inside = False
if y == self.rows - 1:
corners[2] = "round"
corners[3] = "round"
is_inside = False
return corners, is_inside
def make_radon_checkerboard_pattern(self):
spacing = self.square_size
xspacing = (self.width - self.cols * self.square_size) / 2.0
yspacing = (self.height - self.rows * self.square_size) / 2.0
for x in range(0, self.cols):
for y in range(0, self.rows):
if x % 2 == y % 2:
corner_types, is_inside = self._get_type(x, y)
if is_inside:
square = SVG("rect", x=x * spacing + xspacing, y=y * spacing + yspacing, width=spacing,
height=spacing, fill="black", stroke="none")
else:
square = SVG("path", d=self._make_round_rect(x * spacing + xspacing, y * spacing + yspacing,
spacing, corner_types), fill="black", stroke="none")
self.g.append(square)
if self.markers is not None:
r = self.square_size * 0.17
pattern_width = ((self.cols - 1.0) * spacing) + (2.0 * r)
pattern_height = ((self.rows - 1.0) * spacing) + (2.0 * r)
x_spacing = (self.width - pattern_width) / 2.0
y_spacing = (self.height - pattern_height) / 2.0
for x, y in self.markers:
color = "black"
if x % 2 == y % 2:
color = "white"
dot = SVG("circle", cx=(x * spacing) + x_spacing + r,
cy=(y * spacing) + y_spacing + r, r=r, fill=color, stroke="none")
self.g.append(dot)
def save(self):
c = canvas(self.g, width="%d%s" % (self.width, self.units), height="%d%s" % (self.height, self.units),
viewBox="0 0 %d %d" % (self.width, self.height))
c.save(self.output)
def main():
# parse command line options
parser = argparse.ArgumentParser(description="generate camera-calibration pattern", add_help=False)
parser.add_argument("-H", "--help", help="show help", action="store_true", dest="show_help")
parser.add_argument("-o", "--output", help="output file", default="out.svg", action="store", dest="output")
parser.add_argument("-c", "--columns", help="pattern columns", default="8", action="store", dest="columns",
type=int)
parser.add_argument("-r", "--rows", help="pattern rows", default="11", action="store", dest="rows", type=int)
parser.add_argument("-T", "--type", help="type of pattern", default="circles", action="store", dest="p_type",
choices=["circles", "acircles", "checkerboard", "radon_checkerboard"])
parser.add_argument("-u", "--units", help="length unit", default="mm", action="store", dest="units",
choices=["mm", "inches", "px", "m"])
parser.add_argument("-s", "--square_size", help="size of squares in pattern", default="20.0", action="store",
dest="square_size", type=float)
parser.add_argument("-R", "--radius_rate", help="circles_radius = square_size/radius_rate", default="5.0",
action="store", dest="radius_rate", type=float)
parser.add_argument("-w", "--page_width", help="page width in units", default=argparse.SUPPRESS, action="store",
dest="page_width", type=float)
parser.add_argument("-h", "--page_height", help="page height in units", default=argparse.SUPPRESS, action="store",
dest="page_height", type=float)
parser.add_argument("-a", "--page_size", help="page size, superseded if -h and -w are set", default="A4",
action="store", dest="page_size", choices=["A0", "A1", "A2", "A3", "A4", "A5"])
parser.add_argument("-m", "--markers", help="list of cells with markers for the radon checkerboard. Marker "
"coordinates as list of numbers: -m 1 2 3 4 means markers in cells "
"[1, 2] and [3, 4]",
default=argparse.SUPPRESS, action="store", dest="markers", nargs="+", type=int)
args = parser.parse_args()
show_help = args.show_help
if show_help:
parser.print_help()
return
output = args.output
columns = args.columns
rows = args.rows
p_type = args.p_type
units = args.units
square_size = args.square_size
radius_rate = args.radius_rate
if 'page_width' and 'page_height' in args:
page_width = args.page_width
page_height = args.page_height
else:
page_size = args.page_size
# page size dict (ISO standard, mm) for easy lookup. format - size: [width, height]
page_sizes = {"A0": [840, 1188], "A1": [594, 840], "A2": [420, 594], "A3": [297, 420], "A4": [210, 297],
"A5": [148, 210]}
page_width = page_sizes[page_size][0]
page_height = page_sizes[page_size][1]
markers = None
if p_type == "radon_checkerboard" and "markers" in args:
if len(args.markers) % 2 == 1:
raise ValueError("The length of the markers array={} must be even".format(len(args.markers)))
markers = set()
for x, y in zip(args.markers[::2], args.markers[1::2]):
if x in range(0, columns) and y in range(0, rows):
markers.add((x, y))
else:
raise ValueError("The marker {},{} is outside the checkerboard".format(x, y))
pm = PatternMaker(columns, rows, output, units, square_size, radius_rate, page_width, page_height, markers)
# dict for easy lookup of pattern type
mp = {"circles": pm.make_circles_pattern, "acircles": pm.make_acircles_pattern,
"checkerboard": pm.make_checkerboard_pattern, "radon_checkerboard": pm.make_radon_checkerboard_pattern}
mp[p_type]()
# this should save pattern to output
pm.save()
if __name__ == "__main__":
main()
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