pmd-python/tools/chessboard.py

import numpy as np
import cv2

# # Define the size of the image
# width, height = 2360, 1640

# # Define the size of the squares
# square_size = 40

# square_cols = 25
# square_rows = 16

# # Calculate the total size of the checkerboard
# checkerboard_width = square_cols * square_size
# checkerboard_height = square_rows * square_size

# # Create an empty image with white background
# image = np.ones((height, width, 3), dtype=np.uint8) * 255

# # Calculate the offsets to center the checkerboard
# x_offset = (width - checkerboard_width) // 2
# y_offset = (height - checkerboard_height) // 2

# # Create the checkerboard pattern within the offsets
# for y in range(square_rows):
#     for x in range(square_cols):
#         if (x + y) % 2 == 0:
#             top_left_y = y_offset + y * square_size
#             top_left_x = x_offset + x * square_size
#             bottom_right_y = y_offset + (y + 1) * square_size
#             bottom_right_x = x_offset + (x + 1) * square_size
#             cv2.rectangle(image, (top_left_x, top_left_y), (bottom_right_x, bottom_right_y), (0, 0, 0), -1)

# # Determine the coordinates for the circle just right of the bottom-right white square
# right_most_white_x = x_offset + square_cols * square_size  # Rightmost column
# right_most_white_y = y_offset + square_rows * square_size  # Bottommost row

# # Check if the bottom-right square is white, if not adjust the x coordinate
# if (square_cols + square_rows - 2) % 2 == 1:  # If it's a black square, move one square to the left
#     right_most_white_x -= square_size

# # Draw a circle to the right of the bottom-right white square
# cv2.circle(image, (right_most_white_x + square_size + square_size // 2, right_most_white_y + square_size // 2), 20, (255, 0, 0), -1)

# # Save the image with the circle but without coordinates
# cv2.imwrite('checkerboard_with_circle_no_coords.png', image)

# # Create a copy of the image to draw the coordinates
# # image_with_coords = image.copy()

# # # Calculate and mark all the corners
# # for y in range(9):  # Include one extra row for bottom edge points
# #     for x in range(12):  # Include one extra column for right edge points
# #         corner_x = x_offset + x * square_size
# #         corner_y = y_offset + y * square_size
# #         if corner_x < width and corner_y < height:  # Ensure points are within image bounds
# #             cv2.circle(image_with_coords, (corner_x, corner_y), 5, (0, 255, 0), -1)  # Green dot
# #             cv2.putText(image_with_coords, f"({corner_x}, {corner_y})", (corner_x + 5, corner_y - 10),
# #                         cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 255), 2)  # Red color, thickness = 2 for bold

# # # Save the image with both the circle and coordinates
# # cv2.imwrite('checkerboard_with_circle_and_coords.png', image_with_coords)


# 图像大小
image_width = 1920
image_height = 1200

# 棋盘格大小和数量
grid_size = 30
num_cols = 25
num_rows = 16

# 计算棋盘格区域的总大小
board_width = grid_size * num_cols
board_height = grid_size * num_rows

# 计算棋盘格左上角的起始坐标，使其居中
start_x = (image_width - board_width) // 2
start_y = (image_height - board_height) // 2

# 创建白色背景的图像
image = np.ones((image_height, image_width, 3), dtype=np.uint8) * 255  # 白色背景

# 绘制棋盘格
for row in range(num_rows):
    for col in range(num_cols):
        # 计算每个格子的左上角和右下角坐标
        top_left_x = start_x + col * grid_size
        top_left_y = start_y + row * grid_size
        bottom_right_x = top_left_x + grid_size - 1 
        bottom_right_y = top_left_y + grid_size - 1
        
        # 棋盘格的颜色交替为黑白
        if (row + col) % 2 == 0:
            cv2.rectangle(image, (top_left_x, top_left_y), (bottom_right_x, bottom_right_y), (0, 0, 0), -1)

cv2.circle(image, (top_left_x + 2 * grid_size, top_left_y + 2 * grid_size), 20, (255, 0, 0), -1)
            

# 显示图像
cv2.imshow("Chessboard", image)
cv2.waitKey(0)
cv2.destroyAllWindows()

# 或者保存图像
cv2.imwrite('chessboard_' + str(image_width) + '_' + str(image_height) + '.png', image)