Refactoring marker creation.

5 files changed, 43 insertions, 29 deletions

diff --git a/src/argaze/ArUcoMarkers/ArUcoMarker.py b/src/argaze/ArUcoMarkers/ArUcoMarker.py
index ef03ffd..5879a7b 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarker.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarker.py
@@ -39,6 +39,16 @@ class ArUcoMarker():
 
         return self.corners[0].mean(axis=0)
 
+    def image(self, dpi) -> numpy.array:
+        """Create marker matrix image at a given resolution."""
+
+        dimension = round(dpi * self.size / 2.54)
+        matrix = numpy.zeros((dimension, dimension, 1), dtype="uint8")
+
+        aruco.drawMarker(self.dictionary.markers, self.identifier, dimension, matrix, 1)
+
+        return numpy.repeat(matrix, 3).reshape(dimension, dimension, 3)
+
     def draw(self, frame, K, D):
         """Draw marker in frame."""
 
@@ -47,4 +57,13 @@ class ArUcoMarker():
 
             cv.drawFrameAxes(frame, K, D, self.rotation, self.translation, self.size)
 
-        aruco.drawDetectedMarkers(frame, [self.corners], numpy.array([self.identifier]))
\ No newline at end of file
+        aruco.drawDetectedMarkers(frame, [self.corners], numpy.array([self.identifier]))
+
+    def save(self, destination_folder, dpi):
+        """Save marker image as .png file."""
+
+        filename = f'{self.dictionary.name}_{self.dictionary.format}_{self.identifier}.png'
+        filepath = f'{destination_folder}/{filename}'
+
+        cv.imwrite(filepath, self.image(dpi))
+
diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersDictionary.py b/src/argaze/ArUcoMarkers/ArUcoMarkersDictionary.py
index 016c0b5..4f87881 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarkersDictionary.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarkersDictionary.py
@@ -1,5 +1,7 @@
 #!/usr/bin/env python
 
+from typing import TypeVar
+
 import cv2 as cv
 import cv2.aruco as aruco
 import numpy
@@ -29,6 +31,9 @@ all_aruco_markers_dictionaries = {
 }
 """Dictionnary to list all built-in ArUco markers dictionaries from OpenCV ArUco package."""
 
+ArUcoMarkerType = TypeVar('ArUcoMarker', bound="ArUcoMarker")
+# Type definition for type annotation convenience
+
 class ArUcoMarkersDictionary():
     """Handle an ArUco markers dictionary."""
 
@@ -49,7 +54,7 @@ class ArUcoMarkersDictionary():
             self.__format = '5X5'
             self.__number = 1024
 
-        # DICT_APRILTAG_ case
+        # DICT_APRILTAG case
         elif self.__format == 'APRILTAG':
 
             april_tag_format = dict_name_split[2]
@@ -80,7 +85,7 @@ class ArUcoMarkersDictionary():
             self.__number = int(dict_name_split[2])
 
         self.__aruco_dict = aruco.Dictionary_get(all_aruco_markers_dictionaries[self.__name])
-
+    
     @property
     def name(self)-> str:
         """Get dictionary name."""
@@ -88,7 +93,7 @@ class ArUcoMarkersDictionary():
         return self.__name
 
     @property
-    def markers(self)-> aruco.Dictionary:
+    def markers(self) -> aruco.Dictionary:
         """Get all markers from dictionary."""
 
         return self.__aruco_dict
@@ -100,38 +105,27 @@ class ArUcoMarkersDictionary():
         return self.__format
 
     @property
-    def size(self) -> int:
+    def number(self) -> int:
         """Get number of markers inside dictionary."""
 
         return self.__number
 
-    def create_marker(self, i, dpi=300) -> numpy.array:
-        """Create a marker image."""
-
-        marker = numpy.zeros((dpi, dpi, 1), dtype="uint8")
-        aruco.drawMarker(self.__aruco_dict, i, dpi, marker, 1)
-
-        return numpy.repeat(marker, 3).reshape(dpi, dpi, 3)
-
-    def export_as_png(self, destination_folder, dpi, i):
-        """Save one marker into a .png file."""
+    def create_marker(self, i, size) -> ArUcoMarkerType:
+        """Create a marker."""
 
         if i >= 0 and i < self.__number:
 
-            output_filename = f'marker_{self.__format}_{i}.png'
+            from argaze.ArUcoMarkers import ArUcoMarker
 
-            # create marker
-            marker = self.create_marker(i, dpi)
-
-            # save marker into destination folder
-            cv.imwrite(f'{destination_folder}/{output_filename}', marker)
+            return ArUcoMarker.ArUcoMarker(self, i, size)
 
         else:
-            raise ValueError(f'Bad ArUco index: {i}')
 
-    def export_all(self, destination_folder, dpi):
+            raise ValueError(f'Bad index: {i}')
+
+    def save(self, destination_folder, size, dpi):
         """Save all markers dictionary into separated .png files."""
 
         for i in range(self.__number):
 
-            self.export_as_png(destination_folder, dpi, i)
+            self.create_marker(i, size).save(destination_folder, dpi)
diff --git a/src/argaze/ArUcoMarkers/README.md b/src/argaze/ArUcoMarkers/README.md
index 011305f..821a582 100644
--- a/src/argaze/ArUcoMarkers/README.md
+++ b/src/argaze/ArUcoMarkers/README.md
@@ -2,7 +2,7 @@ Class interface to work with [OpenCV ArUco markers](https://docs.opencv.org/4.x/
 
 ## ArUco markers dictionary
 
-To work with ArUco markers, you need to choose a marker dictionary which have differents property concerning the difference between each markers to avoid error in tracking.
+To work with ArUco markers, you need to choose a marker dictionary which have specific the format, the numbers of markers or the difference between each markers to avoid error in tracking.
 Here is more [about ArUco markers dictionaries](https://docs.opencv.org/3.4/d9/d6a/group__aruco.html#gac84398a9ed9dd01306592dd616c2c975)
 
 ## Utils
diff --git a/src/argaze/utils/README.md b/src/argaze/utils/README.md
index fd1c332..2fc3bab 100644
--- a/src/argaze/utils/README.md
+++ b/src/argaze/utils/README.md
@@ -10,10 +10,10 @@ Collection of command-line high level features based on ArGaze toolkit.
 
 ### ArUco factory
 
-- Export all markers from DICT_APRILTAG_16h5 dictionary at 300 dpi into an export/markers folder:
+- Export all markers from DICT_APRILTAG_16h5 dictionary as 5 cm pictures with 300 dpi resolution into an export/markers folder:
 
 ```
-python ./src/argaze/utils/aruco_markers_export.py -o export/markers -d DICT_APRILTAG_16h5
+python ./src/argaze/utils/aruco_markers_export.py -o export/markers -d DICT_APRILTAG_16h5 -s 5 -r 300
 ```
 
 - Export a 7 columns and 5 rows calibration board made of 5cm squares with 3cm markers from DICT_APRILTAG_16h5 dictionary at 50 dpi into an export folder:
diff --git a/src/argaze/utils/aruco_markers_export.py b/src/argaze/utils/aruco_markers_export.py
index ce68761..40d3e20 100644
--- a/src/argaze/utils/aruco_markers_export.py
+++ b/src/argaze/utils/aruco_markers_export.py
@@ -12,7 +12,8 @@ def main():
     parser = argparse.ArgumentParser(description=main.__doc__)
     parser.add_argument('-o', '--output', metavar='OUT', type=str, default='.', help='destination path')
     parser.add_argument('-d', '--dictionary', metavar='DICT', type=ArUcoMarkersDictionary.ArUcoMarkersDictionary, default='DICT_ARUCO_ORIGINAL', help='aruco marker dictionnary (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)')
-    parser.add_argument('-r', '--resolution', metavar='RES', type=int, default=300, help='picture resolution in dpi')
+    parser.add_argument('-s', '--size', metavar='SIZE', type=float, default=3., help='marker size in cm')
+    parser.add_argument('-r', '--resolution', metavar='RES', type=int, default=50, help='picture resolution in dpi')
     args = parser.parse_args()
 
     # manage destination folder
@@ -21,7 +22,7 @@ def main():
         print(f'{args.output} folder created')
 
     # export markers
-    args.dictionary.export_all(args.output, args.resolution)
+    args.dictionary.export_all(args.output, args.size, args.resolution)
 
 if __name__ == '__main__':