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#!/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_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 package."""
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])
def create_marker(self, i, dpi=300):
"""Create a marker image.
**Returns:** numpy.array"""
marker = numpy.zeros((dpi, dpi, 1), dtype="uint8")
aruco.drawMarker(self.__aruco_dict, i, dpi, marker, 1)
return numpy.repeat(marker, 3).reshape(dpi, dpi, 3)
def get_markers(self):
"""Get all markers from dictionary.
**Returns:** aruco.Dictionary"""
return self.__aruco_dict
def get_markers_format(self):
"""Get markers format.
**Returns:** str"""
return self.__format
def get_markers_number(self):
"""Get markers format.
**Returns:** int"""
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 = self.create_marker(i, dpi)
# 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)
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