1 files changed, 48 insertions, 0 deletions
diff --git a/src/argaze/ArUcoMarkers/ArUcoMarker.py b/src/argaze/ArUcoMarkers/ArUcoMarker.py
new file mode 100644
index 0000000..4f716bb
--- /dev/null
+++ b/src/argaze/ArUcoMarkers/ArUcoMarker.py
@@ -0,0 +1,48 @@
+#!/usr/bin/env python
+
+from dataclasses import dataclass, field
+
+from argaze.ArUcoMarkers import ArUcoMarkersDictionary
+
+import numpy
+import cv2 as cv
+import cv2.aruco as aruco
+
+@dataclass
+class ArUcoMarker():
+    """Define ArUco marker class."""
+
+    dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary
+    """ """
+
+    identifier: int
+    """ """
+
+    size: float
+    """Size of marker in centimeters."""
+
+    corners: numpy.array = field(init=False, repr=False)
+    """Estimated 2D corner positions in camera image referential."""
+
+    translation: numpy.array = field(init=False, repr=False)
+    """Estimated 3D center position in camera referential."""
+
+    rotation: numpy.array = field(init=False, repr=False)
+    """Estimated 3D marker rotation in camera referential."""
+
+    points: numpy.array = field(init=False, repr=False)
+    """Estimated 3D corners positions in camera referential."""
+
+    def center(self, i):
+        """Get 2D center position in camera image referential."""
+        return self.corners[0].mean(axis=0)
+
+    def draw(self, frame, K, D):
+        """Draw marker in frame."""
+
+        # Draw marker axis if pose has been estimated
+        if self.translation.size == 3 and self.rotation.size == 3:
+
+            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