1 files changed, 115 insertions, 0 deletions
diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersDictionary.py b/src/argaze/ArUcoMarkers/ArUcoMarkersDictionary.py
new file mode 100644
index 0000000..f8060f3
--- /dev/null
+++ b/src/argaze/ArUcoMarkers/ArUcoMarkersDictionary.py
@@ -0,0 +1,115 @@
+#!/usr/bin/env python
+
+import cv2 as cv
+import cv2.aruco as aruco
+import numpy
+
+all_aruco_markers_dictionaries = {
+    'DICT_4X4_50': aruco.DICT_4X4_50,
+    'DICT_4X4_100': aruco.DICT_4X4_100,
+    'DICT_4X4_250': aruco.DICT_4X4_250,
+    'DICT_4X4_1000': aruco.DICT_4X4_1000,
+    'DICT_5X5_50': aruco.DICT_5X5_50,
+    'DICT_5X5_100': aruco.DICT_5X5_100,
+    'DICT_5X5_250': aruco.DICT_5X5_250,
+    'DICT_5X5_1000': aruco.DICT_5X5_1000,
+    'DICT_6X6_50': aruco.DICT_6X6_50,
+    'DICT_6X6_100': aruco.DICT_6X6_100,
+    'DICT_6X6_250': aruco.DICT_6X6_250,
+    'DICT_6X6_1000': aruco.DICT_6X6_1000,
+    'DICT_7X7_50': aruco.DICT_7X7_50,
+    '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_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
+}
+"""Dictionnary to list all built-in ArUco markers dictionaries from OpenCV package."""
+
+class ArUcoMarkersDictionary():
+    """Handle an ArUco markers dictionary."""
+
+    def __init__(self, aruco_dictionary_name):
+
+        if all_aruco_markers_dictionaries.get(aruco_dictionary_name, None) is None:
+            raise NameError(f'Bad ArUco markers dictionary name: {aruco_dictionary_name}')
+
+        dict_name_split = aruco_dictionary_name.split('_')
+
+        self.__format = dict_name_split[1]
+
+        # DICT_ARUCO_ORIGINAL case
+        if self.__format == 'ARUCO':
+
+            self.__format = '5X5'
+            self.__number = 1024
+
+        # DICT_APRILTAG_ case
+        elif self.__format == 'APRILTAG':
+
+            april_tag_format = dict_name_split[2]
+
+            if april_tag_format == '16h5':
+
+                self.__format = '4X4'
+                self.__number = 30
+
+            elif april_tag_format == '25h9':
+
+                self.__format = '5X5'
+                self.__number = 30
+
+            elif april_tag_format == '36h10':
+
+                self.__format = '6X6'
+                self.__number = 2320
+
+            elif april_tag_format == '36h11':
+
+                self.__format = '6X6'
+                self.__number = 587
+  
+        # other cases
+        else:
+
+            self.__number = int(dict_name_split[2])
+
+        self.__aruco_dict = aruco.Dictionary_get(all_aruco_markers_dictionaries[aruco_dictionary_name])
+
+    def get_markers(self):
+        return self.__aruco_dict
+
+    def get_markers_format(self):
+        return self.__format
+
+    def get_markers_number(self):
+        return self.__number
+
+    def export_as_png(self, destination_folder, dpi, i):
+        """Save one marker into a .png file."""
+
+        if i >= 0 and i < self.__number:
+
+            output_filename = f'marker_{self.__format}_{i}.png'
+
+            print(destination_folder, output_filename)
+
+            # create marker
+            marker = numpy.zeros((dpi, dpi, 1), dtype="uint8")
+            aruco.drawMarker(self.__aruco_dict, i, dpi, marker, 1)
+
+            # save marker into destination folder
+            cv.imwrite(f'{destination_folder}/{output_filename}', marker)
+
+        else:
+            raise ValueError(f'Bad ArUco index: {i}')
+
+    def export_all(self, destination_folder, dpi):
+        """Save all markers dictionary into separated .png files."""
+
+        for i in range(self.__number):
+
+            self.export_as_png(destination_folder, dpi, i)