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"""
This program is free software: you can redistribute it and/or modify it under
the terms of the GNU General Public License as published by the Free Software
Foundation, either version 3 of the License, or (at your option) any later
version.
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with
this program. If not, see <http://www.gnu.org/licenses/>.
"""
__author__ = "Théo de la Hogue"
__credits__ = []
__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
__license__ = "GPLv3"
from dataclasses import dataclass, field
import math
from argaze.ArUcoMarkers import ArUcoMarkersDictionary
import numpy
import cv2
import cv2.aruco as aruco
@dataclass
class ArUcoMarker():
"""Define ArUco marker class."""
dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary
"""Dictionary to which it belongs."""
identifier: int
"""Index into dictionary"""
size: float = field(default=math.nan)
"""Size of marker in centimeters."""
corners: numpy.array = field(init=False, repr=False)
"""Estimated 2D corners position in camera image referential."""
translation: numpy.array = field(init=False, repr=False)
"""Estimated 3D center position in camera world referential."""
rotation: numpy.array = field(init=False, repr=False)
"""Estimated 3D marker rotation in camera world referential."""
points: numpy.array = field(init=False, repr=False)
"""Estimated 3D corners positions in camera world referential."""
@property
def center(self) -> numpy.array:
"""Get 2D center position in camera image referential."""
return self.corners[0].mean(axis=0)
def image(self, dpi) -> numpy.array:
"""Create marker matrix image at a given resolution.
!!! warning
Marker size have to be setup before.
"""
assert(not math.isnan(self.size))
dimension = round(self.size * dpi / 2.54) # 1 cm = 2.54 inches
matrix = numpy.zeros((dimension, dimension, 1), dtype="uint8")
aruco.generateImageMarker(self.dictionary.markers, self.identifier, dimension, matrix, 1)
return numpy.repeat(matrix, 3).reshape(dimension, dimension, 3)
def draw(self, image: numpy.array, K: numpy.array, D: numpy.array, color: tuple = None, draw_axes: dict = None):
"""Draw marker in image.
Parameters:
image: image where to
K:
D:
color: marker color (if None, no marker drawn)
draw_axes: enable marker axes drawing
!!! warning
draw_axes needs marker size and pose estimation.
"""
# Draw marker if required
if color is not None:
aruco.drawDetectedMarkers(image, [numpy.array([list(self.corners)])], numpy.array([self.identifier]), color)
# Draw marker axes if pose has been estimated, marker have a size and if required
if self.translation.size == 3 and self.rotation.size == 9 and not math.isnan(self.size) and draw_axes is not None:
cv2.drawFrameAxes(image, numpy.array(K), numpy.array(D), self.rotation, self.translation, self.size, **draw_axes)
def save(self, destination_folder, dpi):
"""Save marker image as .png file into a destination folder."""
filename = f'{self.dictionary.name}_{self.dictionary.format}_{self.identifier}.png'
filepath = f'{destination_folder}/{filename}'
cv2.imwrite(filepath, self.image(dpi))
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