diff options
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoMarkers.py | 47 | ||||
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoTracker.py | 10 | ||||
| -rw-r--r-- | src/argaze/ArUcoMarkers/README.md | 5 | ||||
| -rw-r--r-- | src/argaze/utils/export_aruco_markers.py | 2 |
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() |