camera.utils.utils Namespace Reference

Functions
def	BEV_rectify_aruco (image, corners, target_pos="down", target_size=100, margin=100, mode="full")

Detailed Description

@brief:             The other utility functions

@author:            Yiye Chen,      yychen2019@gatech.edu
@date:              10/07/2021

Function Documentation

BEV_rectify_aruco()

def camera.utils.utils.BEV_rectify_aruco	(		image,
			corners,
			target_pos = "down",
			target_size = 100,
			margin = 100,
			mode = "full"
	)

The bird-eye-view rectification based on the aruco tag
Project the image to the aruco frame by estimating an affine transformation matrix that maps the Aruco corners to the desired coordinates .

@param[in]         image:   The image to be rectified. np.ndarray
@param[in]       corners:   The coordinates of the four corners of the aruco tag, starting from top-left and goes clock-wise. (4, 2)
@param[in]    target_pos:   The target position of the Aruco corners after rectification. The following options are provided:
                            \"down\"(Default): The bottom middle of the frame. The margin is 100. The Aruco size is 100; 
                            \"top\": The upper middle of the frame. The margin is 100. The Aruco size is 100; 
                            Coordinates (np.ndarray. (4, 2)): The customized desired location
@param[in]    target_size:  The target size of the Aruco after the rectification. Unit is pixel
@param[in]          margin: The margin of the tag from the image side
@param[in]          mode:   "same". Rectify the aruco to the desired location, then crop the result image to have the same size as the original image.
                            "full". The rectified image will be translated and crop with different size to contain the full visual field. 
                                    Method follows the following link: https://stackoverflow.com/questions/13063201/how-to-show-the-whole-image-when-using-opencv-warpperspective

@param[out]     image_rec:  The rectified image.
@param[out]     warp_mat:   The warping matrix