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#!/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
"""Dictionary to which it belongs."""
identifier: int
"""Index into dictionary"""
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 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."""
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, frame, K, D):
"""Draw marker in frame."""
# Draw marker axis if pose has been estimated
if self.translation.size == 3 and self.rotation.size == 9:
cv.drawFrameAxes(frame, numpy.array(K), numpy.array(D), self.rotation, self.translation, self.size)
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))
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