diff options
Diffstat (limited to 'src/argaze/ArUcoMarkers/ArUcoMarkers.py')
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoMarkers.py | 47 |
1 files changed, 45 insertions, 2 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]) |