1 files changed, 20 insertions, 1 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))
+