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#!/usr/bin/env python
from typing import TypeVar
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_25h9,
'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 ArUco package."""
ArUcoMarkerType = TypeVar('ArUcoMarker', bound="ArUcoMarker")
# Type definition for type annotation convenience
class ArUcoMarkersDictionary():
"""Handle an ArUco markers dictionary."""
def __init__(self, name):
if all_aruco_markers_dictionaries.get(name, None) is None:
raise NameError(f'Bad ArUco markers dictionary name: {name}')
self.__name = name
dict_name_split = 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[self.__name])
@property
def name(self)-> str:
"""Get dictionary name."""
return self.__name
@property
def markers(self) -> aruco.Dictionary:
"""Get all markers from dictionary."""
return self.__aruco_dict
@property
def format(self) -> str:
"""Get markers format."""
return self.__format
@property
def number(self) -> int:
"""Get number of markers inside dictionary."""
return self.__number
def create_marker(self, i, size) -> ArUcoMarkerType:
"""Create a marker."""
if i >= 0 and i < self.__number:
from argaze.ArUcoMarkers import ArUcoMarker
return ArUcoMarker.ArUcoMarker(self, i, size)
else:
raise ValueError(f'Bad index: {i}')
def save(self, destination_folder, size, dpi):
"""Save all markers dictionary into separated .png files."""
for i in range(self.__number):
self.create_marker(i, size).save(destination_folder, dpi)
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