pmd-python/tools/chessboard.py

import numpy as np
import cv2

# Define the size of the image
width, height = 1920, 1080

# Define the size of the squares
square_size = 80

# Calculate the total size of the checkerboard
checkerboard_width = 11 * square_size
checkerboard_height = 8 * 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(8):
    for x in range(11):
        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 + 10 * square_size  # Rightmost column
right_most_white_y = y_offset + 7 * square_size  # Bottommost row

# Check if the bottom-right square is white, if not adjust the x coordinate
if (10 + 7) % 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)