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#!/usr/bin/env python
from typing import TypeVar
from dataclasses import dataclass, field
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
@dataclass(frozen=True)
class ArUcoMarkersDictionary():
"""Handle an ArUco markers dictionary."""
name: str = field(default='DICT_ARUCO_ORIGINAL')
"""Dictionary name"""
def __post_init__(self):
if all_aruco_markers_dictionaries.get(self.name, None) is None:
raise NameError(f'Bad ArUco markers dictionary name: {self.name}')
def __str__(self) -> str:
"""String display"""
output = f'{self.name}\n'
return output
@property
def markers(self) -> aruco.Dictionary:
"""Get all markers from dictionary."""
return aruco.getPredefinedDictionary(all_aruco_markers_dictionaries[self.name])
@property
def format(self) -> str:
"""Get markers format."""
dict_name_split = self.name.split('_')
dict_type = dict_name_split[1]
# DICT_ARUCO_ORIGINAL case
if dict_type == 'ARUCO':
return '5X5'
# DICT_APRILTAG case
elif dict_type == 'APRILTAG':
april_tag_format = dict_name_split[2]
if april_tag_format == '16h5':
return '4X4'
elif april_tag_format == '25h9':
return '5X5'
elif april_tag_format == '36h10':
return '6X6'
elif april_tag_format == '36h11':
return '6X6'
# other cases
else:
return dict_type
@property
def number(self) -> int:
"""Get number of markers inside dictionary."""
dict_name_split = self.name.split('_')
dict_type = dict_name_split[1]
# DICT_ARUCO_ORIGINAL case
if dict_type == 'ARUCO':
return 1024
# DICT_APRILTAG case
elif dict_type == 'APRILTAG':
april_tag_format = dict_name_split[2]
if april_tag_format == '16h5':
return 30
elif april_tag_format == '25h9':
return 30
elif april_tag_format == '36h10':
return 2320
elif april_tag_format == '36h11':
return 587
# other cases
else:
return int(dict_name_split[2])
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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