Improving ArUco markers library managment

6 files changed, 141 insertions, 230 deletions

diff --git a/src/argaze/ArUcoMarkers/ArUcoBoard.py b/src/argaze/ArUcoMarkers/ArUcoBoard.py
index ce4abd8..de50363 100644
--- a/src/argaze/ArUcoMarkers/ArUcoBoard.py
+++ b/src/argaze/ArUcoMarkers/ArUcoBoard.py
@@ -1,47 +1,19 @@
 #!/usr/bin/env python
 
+from argaze.ArUcoMarkers import ArUcoMarkersDictionary
+
 import numpy
 import cv2 as cv
 import cv2.aruco as aruco
 
-# Built-in ArUco dictionaries from OpenCV library
-ARUCO_DICT = {
-    'DICT_4X4_50': aruco.DICT_4X4_50,
-    'DICT_4X4_100': aruco.DICT_4X4_100,
-    'DICT_4X4_250': aruco.DICT_4X4_250,
-    'DICT_4X4_1000': aruco.DICT_4X4_1000,
-    'DICT_5X5_50': aruco.DICT_5X5_50,
-    'DICT_5X5_100': aruco.DICT_5X5_100,
-    'DICT_5X5_250': aruco.DICT_5X5_250,
-    'DICT_5X5_1000': aruco.DICT_5X5_1000,
-    'DICT_6X6_50': aruco.DICT_6X6_50,
-    'DICT_6X6_100': aruco.DICT_6X6_100,
-    'DICT_6X6_250': aruco.DICT_6X6_250,
-    'DICT_6X6_1000': aruco.DICT_6X6_1000,
-    'DICT_7X7_50': aruco.DICT_7X7_50,
-    'DICT_7X7_100': aruco.DICT_7X7_100,
-    'DICT_7X7_250': aruco.DICT_7X7_250,
-    'DICT_7X7_1000': aruco.DICT_7X7_1000,
-    'DICT_ARUCO_ORIGINAL': aruco.DICT_ARUCO_ORIGINAL
-}
-
 class ArUcoBoard():
     """Calibration chess board with ArUco markers inside."""
 
     def __init__(self, aruco_dictionary_name: str, columns: int, rows: int, square_size: float, marker_size: float):
         """Create columnsxrows chess board with ArUco markers type at given sizes in centimeters."""
 
-        # check aruco dictionary name
-        if ARUCO_DICT.get(aruco_dictionary_name, None) is None:
-            raise NameError(f'Bad ArUco dictionnary name: {aruco_dictionary_name}')
-
-        dict_name_split = aruco_dictionary_name.split('_')
-
-        self.__aruco_dict_format = dict_name_split[1]
-        self.__aruco_dict_number = int(dict_name_split[2])
-
-        # load ArUco dictionary
-        self.__aruco_dict = aruco.Dictionary_get(ARUCO_DICT[aruco_dictionary_name])
+        # load ArUco markers dictionary
+        self.__aruco_dict = ArUcoMarkersDictionary.ArUcoMarkersDictionary(aruco_dictionary_name)
 
         # store property
         self.__columns = columns
@@ -50,7 +22,7 @@ class ArUcoBoard():
         self.__marker_size = marker_size  # in cm
 
         # create board model
-        self.__board = aruco.CharucoBoard_create(self.__columns, self.__rows, self.__square_size/100., self.__marker_size/100., self.__aruco_dict)
+        self.__board = aruco.CharucoBoard_create(self.__columns, self.__rows, self.__square_size/100., self.__marker_size/100., self.__aruco_dict.get_markers())
 
     def __del__(self):
         pass
@@ -65,13 +37,20 @@ class ArUcoBoard():
 
     def get_size(self):
         """Get numbers of columns and rows."""
-
         return self.__board.getChessboardSize()
 
+    def get_markers_number(self):
+        """Get number of markers."""
+        return len(self.__board.ids)
+
+    def get_corners_number(self):
+        """Get number of corners."""
+        return (self.__board.getChessboardSize()[0] - 1 ) * (self.__board.getChessboardSize()()[1] - 1)
+
     def export(self, destination_folder: str, dpi: int):
         """Save a picture of the calibration board."""
 
-        output_filename = f'board_{self.__columns*self.__square_size}cmx{self.__rows*self.__square_size}cm_markers_{self.__aruco_dict_format}_{self.__marker_size}cm.png'
+        output_filename = f'board_{self.__columns*self.__square_size}cmx{self.__rows*self.__square_size}cm_markers_{self.__aruco_dict.get_markers_format()}_{self.__marker_size}cm.png'
 
         dimension = [int(e * self.__board.getSquareLength() * 254 * dpi) for e in self.__board.getChessboardSize()]  # 1 meter = 254 inches
 
diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkers.py b/src/argaze/ArUcoMarkers/ArUcoMarkers.py
deleted file mode 100644
index 9f7e96b..0000000
--- a/src/argaze/ArUcoMarkers/ArUcoMarkers.py
+++ /dev/null
@@ -1,134 +0,0 @@
-#!/usr/bin/env python
-
-import numpy
-import cv2 as cv
-import cv2.aruco as aruco
-
-# Built-in ArUco dictionaries from OpenCV library
-ARUCO_DICT = {
-    'DICT_4X4_50': aruco.DICT_4X4_50,
-    'DICT_4X4_100': aruco.DICT_4X4_100,
-    'DICT_4X4_250': aruco.DICT_4X4_250,
-    'DICT_4X4_1000': aruco.DICT_4X4_1000,
-    'DICT_5X5_50': aruco.DICT_5X5_50,
-    'DICT_5X5_100': aruco.DICT_5X5_100,
-    'DICT_5X5_250': aruco.DICT_5X5_250,
-    'DICT_5X5_1000': aruco.DICT_5X5_1000,
-    'DICT_6X6_50': aruco.DICT_6X6_50,
-    'DICT_6X6_100': aruco.DICT_6X6_100,
-    'DICT_6X6_250': aruco.DICT_6X6_250,
-    'DICT_6X6_1000': aruco.DICT_6X6_1000,
-    'DICT_7X7_50': aruco.DICT_7X7_50,
-    'DICT_7X7_100': aruco.DICT_7X7_100,
-    'DICT_7X7_250': aruco.DICT_7X7_250,
-    'DICT_7X7_1000': aruco.DICT_7X7_1000,
-    'DICT_ARUCO_ORIGINAL': aruco.DICT_ARUCO_ORIGINAL,
-    'DICT_APRILTAG_16h5': aruco.DICT_APRILTAG_16h5,
-    'DICT_APRILTAG_25h9': aruco.DICT_APRILTAG_16h5,
-    'DICT_APRILTAG_36h10': aruco.DICT_APRILTAG_36h10,
-    'DICT_APRILTAG_36h11': aruco.DICT_APRILTAG_36h11
-}
-
-class ArUcoMarkers():
-    """Markers factory."""
-
-    def __init__(self, aruco_dictionary_name):
-        """Define which markers library to edit:
-        - DICT_4X4_50
-        - DICT_4X4_100
-        - DICT_4X4_250
-        - DICT_4X4_1000
-        - DICT_5X5_50
-        - DICT_5X5_100
-        - DICT_5X5_250
-        - DICT_5X5_1000
-        - DICT_6X6_50
-        - DICT_6X6_100
-        - DICT_6X6_250
-        - DICT_6X6_1000
-        - DICT_7X7_50
-        - DICT_7X7_100
-        - DICT_7X7_250
-        - DICT_7X7_1000
-        - DICT_ARUCO_ORIGINAL
-        - DICT_APRILTAG_16h5
-        - DICT_APRILTAG_25h9
-        - DICT_APRILTAG_36h10
-        - DICT_APRILTAG_36h11
-        """
-
-        # check aruco dictionary name
-        if ARUCO_DICT.get(aruco_dictionary_name, None) is None:
-            raise NameError(f'Bad ArUco dictionnary name: {aruco_dictionary_name}')
-
-        dict_name_split = aruco_dictionary_name.split('_')
-
-        self.__aruco_dict_format = dict_name_split[1]
-
-        # DICT_ARUCO_ORIGINAL case
-        if self.__aruco_dict_format == 'ARUCO':
-
-            self.__aruco_dict_format = '5X5'
-            self.__aruco_dict_number = 1024
-
-        # DICT_APRILTAG_ case
-        elif self.__aruco_dict_format == 'APRILTAG':
-
-            april_tag_format = dict_name_split[2]
-
-            if april_tag_format == '16h5':
-
-                self.__aruco_dict_format = '4X4'
-                self.__aruco_dict_number = 30
-
-            elif april_tag_format == '25h9':
-
-                self.__aruco_dict_format = '5X5'
-                self.__aruco_dict_number = 30
-
-            elif april_tag_format == '36h10':
-
-                self.__aruco_dict_format = '6X6'
-                self.__aruco_dict_number = 2320
-
-            elif april_tag_format == '36h11':
-
-                self.__aruco_dict_format = '6X6'
-                self.__aruco_dict_number = 587
-  
-        # other cases
-        else:
-
-            self.__aruco_dict_number = int(dict_name_split[2])
-
-        # load ArUco dictionary
-        self.__aruco_dict = aruco.Dictionary_get(ARUCO_DICT[aruco_dictionary_name])
-
-    def __del__(self):
-        pass
-
-    def export(self, destination_folder, dpi, i):
-        """Save one marker into a .png file."""
-
-        if i >= 0 and i < self.__aruco_dict_number:
-
-            output_filename = f'marker_{self.__aruco_dict_format}_{i}.png'
-
-            # create marker
-            marker = numpy.zeros((dpi, dpi, 1), dtype="uint8")
-            aruco.drawMarker(self.__aruco_dict, i, dpi, marker, 1)
-
-            # save marker into destination folder
-            cv.imwrite(f'{destination_folder}/{output_filename}', marker)
-
-        else:
-            raise ValueError(f'Bad ArUco index: {i}')
-
-    def export_all(self, destination_folder, dpi):
-        """Save all library markers into separated .png files."""
-
-        for i in range(self.__aruco_dict_number):
-
-            self.export(destination_folder, dpi, i)
-
-
diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersDictionary.py b/src/argaze/ArUcoMarkers/ArUcoMarkersDictionary.py
new file mode 100644
index 0000000..f8060f3
--- /dev/null
+++ b/src/argaze/ArUcoMarkers/ArUcoMarkersDictionary.py
@@ -0,0 +1,115 @@
+#!/usr/bin/env python
+
+import cv2 as cv
+import cv2.aruco as aruco
+import numpy
+
+all_aruco_markers_dictionaries = {
+    'DICT_4X4_50': aruco.DICT_4X4_50,
+    'DICT_4X4_100': aruco.DICT_4X4_100,
+    'DICT_4X4_250': aruco.DICT_4X4_250,
+    'DICT_4X4_1000': aruco.DICT_4X4_1000,
+    'DICT_5X5_50': aruco.DICT_5X5_50,
+    'DICT_5X5_100': aruco.DICT_5X5_100,
+    'DICT_5X5_250': aruco.DICT_5X5_250,
+    'DICT_5X5_1000': aruco.DICT_5X5_1000,
+    'DICT_6X6_50': aruco.DICT_6X6_50,
+    'DICT_6X6_100': aruco.DICT_6X6_100,
+    'DICT_6X6_250': aruco.DICT_6X6_250,
+    'DICT_6X6_1000': aruco.DICT_6X6_1000,
+    'DICT_7X7_50': aruco.DICT_7X7_50,
+    'DICT_7X7_100': aruco.DICT_7X7_100,
+    'DICT_7X7_250': aruco.DICT_7X7_250,
+    'DICT_7X7_1000': aruco.DICT_7X7_1000,
+    'DICT_ARUCO_ORIGINAL': aruco.DICT_ARUCO_ORIGINAL,
+    'DICT_APRILTAG_16h5': aruco.DICT_APRILTAG_16h5,
+    'DICT_APRILTAG_25h9': aruco.DICT_APRILTAG_16h5,
+    'DICT_APRILTAG_36h10': aruco.DICT_APRILTAG_36h10,
+    'DICT_APRILTAG_36h11': aruco.DICT_APRILTAG_36h11
+}
+"""Dictionnary to list all built-in ArUco markers dictionaries from OpenCV package."""
+
+class ArUcoMarkersDictionary():
+    """Handle an ArUco markers dictionary."""
+
+    def __init__(self, aruco_dictionary_name):
+
+        if all_aruco_markers_dictionaries.get(aruco_dictionary_name, None) is None:
+            raise NameError(f'Bad ArUco markers dictionary name: {aruco_dictionary_name}')
+
+        dict_name_split = aruco_dictionary_name.split('_')
+
+        self.__format = dict_name_split[1]
+
+        # DICT_ARUCO_ORIGINAL case
+        if self.__format == 'ARUCO':
+
+            self.__format = '5X5'
+            self.__number = 1024
+
+        # DICT_APRILTAG_ case
+        elif self.__format == 'APRILTAG':
+
+            april_tag_format = dict_name_split[2]
+
+            if april_tag_format == '16h5':
+
+                self.__format = '4X4'
+                self.__number = 30
+
+            elif april_tag_format == '25h9':
+
+                self.__format = '5X5'
+                self.__number = 30
+
+            elif april_tag_format == '36h10':
+
+                self.__format = '6X6'
+                self.__number = 2320
+
+            elif april_tag_format == '36h11':
+
+                self.__format = '6X6'
+                self.__number = 587
+  
+        # other cases
+        else:
+
+            self.__number = int(dict_name_split[2])
+
+        self.__aruco_dict = aruco.Dictionary_get(all_aruco_markers_dictionaries[aruco_dictionary_name])
+
+    def get_markers(self):
+        return self.__aruco_dict
+
+    def get_markers_format(self):
+        return self.__format
+
+    def get_markers_number(self):
+        return self.__number
+
+    def export_as_png(self, destination_folder, dpi, i):
+        """Save one marker into a .png file."""
+
+        if i >= 0 and i < self.__number:
+
+            output_filename = f'marker_{self.__format}_{i}.png'
+
+            print(destination_folder, output_filename)
+
+            # create marker
+            marker = numpy.zeros((dpi, dpi, 1), dtype="uint8")
+            aruco.drawMarker(self.__aruco_dict, i, dpi, marker, 1)
+
+            # save marker into destination folder
+            cv.imwrite(f'{destination_folder}/{output_filename}', marker)
+
+        else:
+            raise ValueError(f'Bad ArUco index: {i}')
+
+    def export_all(self, destination_folder, dpi):
+        """Save all markers dictionary into separated .png files."""
+
+        for i in range(self.__number):
+
+            self.export_as_png(destination_folder, dpi, i)
diff --git a/src/argaze/ArUcoMarkers/ArUcoTracker.py b/src/argaze/ArUcoMarkers/ArUcoTracker.py
index 93cb5c8..29e862f 100644
--- a/src/argaze/ArUcoMarkers/ArUcoTracker.py
+++ b/src/argaze/ArUcoMarkers/ArUcoTracker.py
@@ -1,68 +1,19 @@
 #!/usr/bin/env python
 
+from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera
+
 import numpy
 import cv2 as cv
 import cv2.aruco as aruco
 
-# Built-in ArUco dictionaries from OpenCV library
-ARUCO_DICT = {
-    'DICT_4X4_50': aruco.DICT_4X4_50,
-    'DICT_4X4_100': aruco.DICT_4X4_100,
-    'DICT_4X4_250': aruco.DICT_4X4_250,
-    'DICT_4X4_1000': aruco.DICT_4X4_1000,
-    'DICT_5X5_50': aruco.DICT_5X5_50,
-    'DICT_5X5_100': aruco.DICT_5X5_100,
-    'DICT_5X5_250': aruco.DICT_5X5_250,
-    'DICT_5X5_1000': aruco.DICT_5X5_1000,
-    'DICT_6X6_50': aruco.DICT_6X6_50,
-    'DICT_6X6_100': aruco.DICT_6X6_100,
-    'DICT_6X6_250': aruco.DICT_6X6_250,
-    'DICT_6X6_1000': aruco.DICT_6X6_1000,
-    'DICT_7X7_50': aruco.DICT_7X7_50,
-    'DICT_7X7_100': aruco.DICT_7X7_100,
-    'DICT_7X7_250': aruco.DICT_7X7_250,
-    'DICT_7X7_1000': aruco.DICT_7X7_1000,
-    'DICT_ARUCO_ORIGINAL': aruco.DICT_ARUCO_ORIGINAL,
-    'DICT_APRILTAG_16h5': aruco.DICT_APRILTAG_16h5,
-    'DICT_APRILTAG_25h9': aruco.DICT_APRILTAG_16h5,
-    'DICT_APRILTAG_36h10': aruco.DICT_APRILTAG_36h10,
-    'DICT_APRILTAG_36h11': aruco.DICT_APRILTAG_36h11
-}
-
 class ArUcoTracker():
     """Track ArUco markers into a frame."""
 
-    def __init__(self, aruco_dictionary_name, marker_length, camera):
-        """Define which markers library to track and their size:
-        - DICT_4X4_50
-        - DICT_4X4_100
-        - DICT_4X4_250
-        - DICT_4X4_1000
-        - DICT_5X5_50
-        - DICT_5X5_100
-        - DICT_5X5_250
-        - DICT_5X5_1000
-        - DICT_6X6_50
-        - DICT_6X6_100
-        - DICT_6X6_250
-        - DICT_6X6_1000
-        - DICT_7X7_50
-        - DICT_7X7_100
-        - DICT_7X7_250
-        - DICT_7X7_1000
-        - DICT_ARUCO_ORIGINAL
-        - DICT_APRILTAG_16h5
-        - DICT_APRILTAG_25h9
-        - DICT_APRILTAG_36h10
-        - DICT_APRILTAG_36h11
-        """
-
-        # check aruco dictionary name
-        if ARUCO_DICT.get(aruco_dictionary_name, None) is None:
-            raise NameError(f'Bad ArUco dictionnary name: {aruco_dictionary_name}')
-
-        # load ArUco dictionary
-        self.__aruco_dict = aruco.Dictionary_get(ARUCO_DICT[aruco_dictionary_name])
+    def __init__(self, aruco_dictionary_name: str, marker_length: float, camera: ArUcoCamera.ArUcoCamera):
+        """Define which markers library to track and their size"""
+
+        # load ArUco markers dictionary
+        self.__aruco_dict = ArUcoMarkersDictionary.ArUcoMarkersDictionary(aruco_dictionary_name)
 
         # define marker length in centimeter
         self.__marker_length = marker_length
diff --git a/src/argaze/ArUcoMarkers/__init__.py b/src/argaze/ArUcoMarkers/__init__.py
index 1d214be..28386d2 100644
--- a/src/argaze/ArUcoMarkers/__init__.py
+++ b/src/argaze/ArUcoMarkers/__init__.py
@@ -2,4 +2,4 @@
 .. include:: README.md
 """
 __docformat__ = "restructuredtext"
-__all__ = ['ArUcoBoard', 'ArUcoCamera', 'ArUcoMarkers', 'ArUcoTracker']
\ No newline at end of file
+__all__ = ['ArUcoMarkersDictionary', 'ArUcoBoard', 'ArUcoCamera', 'ArUcoTracker']
\ No newline at end of file
diff --git a/src/argaze/utils/export_aruco_markers.py b/src/argaze/utils/export_aruco_markers.py
index 2bc878e..78c996f 100644
--- a/src/argaze/utils/export_aruco_markers.py
+++ b/src/argaze/utils/export_aruco_markers.py
@@ -3,7 +3,7 @@
 import argparse
 import os
 
-from argaze.ArUcoMarkers import ArUcoMarkers
+from argaze.ArUcoMarkers import ArUcoMarkersDictionary
 
 def main():
     """Generates ArUco markers to place into a scene."""
@@ -20,11 +20,11 @@ def main():
         os.makedirs(args.output)
         print(f'{args.output} folder created')
 
-    # create aruco markers
-    aruco_markers = ArUcoMarkers.ArUcoMarkers(args.dictionary)
+    # create aruco markers dictionary
+    aruco_markers_dict = ArUcoMarkersDictionary.ArUcoMarkersDictionary(args.dictionary)
 
     # export markers
-    aruco_markers.export_all(args.output, args.resolution)
+    aruco_markers_dict.export_all(args.output, args.resolution)
 
 if __name__ == '__main__':