Handling ORIGINAL and APRILTAG ArUco library markers

4 files changed, 60 insertions, 4 deletions

diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkers.py b/src/argaze/ArUcoMarkers/ArUcoMarkers.py
index 9a5c519..f1d455f 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarkers.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarkers.py
@@ -22,7 +22,11 @@ ARUCO_DICT = {
     '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_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():
@@ -47,6 +51,10 @@ class ArUcoMarkers():
         - 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
@@ -56,7 +64,42 @@ class ArUcoMarkers():
         dict_name_split = aruco_dictionary_name.split('_')
 
         self.__aruco_dict_format = dict_name_split[1]
-        self.__aruco_dict_number = int(dict_name_split[2])
+
+        # 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 = 35
+
+            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])
diff --git a/src/argaze/ArUcoMarkers/ArUcoTracker.py b/src/argaze/ArUcoMarkers/ArUcoTracker.py
index f5adb4c..93cb5c8 100644
--- a/src/argaze/ArUcoMarkers/ArUcoTracker.py
+++ b/src/argaze/ArUcoMarkers/ArUcoTracker.py
@@ -22,7 +22,11 @@ ARUCO_DICT = {
     '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_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():
@@ -47,6 +51,10 @@ class ArUcoTracker():
         - 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
diff --git a/src/argaze/ArUcoMarkers/README.md b/src/argaze/ArUcoMarkers/README.md
index f882cce..82f63c4 100644
--- a/src/argaze/ArUcoMarkers/README.md
+++ b/src/argaze/ArUcoMarkers/README.md
@@ -1,5 +1,10 @@
 Class interface to work with [OpenCV ArUco markers](https://docs.opencv.org/4.x/d5/dae/tutorial_aruco_detection.html).
 
+## ArUco library markers
+
+To work with ArUco markers, you need to choose a marker library which have diffirents property concerning the difference between each markers to avoid error in tracking.
+Here is more [about ArUco library markers](https://docs.opencv.org/3.4/d9/d6a/group__aruco.html#gac84398a9ed9dd01306592dd616c2c975)
+
 ## Utils
 
 Print **A3_board_35cmx25cm_markers_4X4_3cm.pdf** onto A3 paper sheet to get board at expected dimensions.
diff --git a/src/argaze/utils/export_aruco_markers.py b/src/argaze/utils/export_aruco_markers.py
index 2f6fe73..2bc878e 100644
--- a/src/argaze/utils/export_aruco_markers.py
+++ b/src/argaze/utils/export_aruco_markers.py
@@ -11,7 +11,7 @@ def main():
     # manage arguments
     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=str, default='DICT_4X4_50', 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)')
+    parser.add_argument('-d', '--dictionary', metavar='DICT', type=str, 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')
     args = parser.parse_args()