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#!/usr/bin/env python
import numpy
import cv2 as cv
import cv2.aruco as aruco
# Built-in ArUco dictionaries from OpenCV library
ARUCO_DICT = {
'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
}
class ArUcoTracker():
"""Track ArUco markers into a frame."""
def __init__(self, aruco_dictionary_name, marker_length, camera):
"""Define which markers library to track and their size:
- DICT_4X4_50
- DICT_4X4_100
- DICT_4X4_250
- DICT_4X4_1000
- DICT_5X5_50
- DICT_5X5_100
- DICT_5X5_250
- DICT_5X5_1000
- DICT_6X6_50
- DICT_6X6_100
- DICT_6X6_250
- DICT_6X6_1000
- DICT_7X7_50
- DICT_7X7_100
- DICT_7X7_250
- DICT_7X7_1000
- DICT_ARUCO_ORIGINAL
"""
# check aruco dictionary name
if ARUCO_DICT.get(aruco_dictionary_name, None) is None:
raise NameError(f'Bad ArUco dictionnary name: {aruco_dictionary_name}')
# load ArUco dictionary
self.__aruco_dict = aruco.Dictionary_get(ARUCO_DICT[aruco_dictionary_name])
# define marker length in centimeter
self.__marker_length = marker_length
# define camera
self.__camera = camera
# setup ArUco detection parameters
self.__aruco_param = aruco.DetectorParameters_create()
self.__aruco_param.cornerRefinementMethod = aruco.CORNER_REFINE_CONTOUR
# define tracked markers data
self.__markers_corners = []
self.__markers_ids = []
self.__rvecs = []
self.__tvecs = []
self.__points = []
# define tracked board data
self.__board = None
self.__board_corners_number = 0
self.__board_corners = []
self.__board_corners_ids = []
def __del__(self):
pass
def track(self, frame, estimate_pose = True):
"""Track ArUco markers in frame."""
# DON'T MIRROR FRAME : it makes the markers detection to fail
# detect markers from gray picture
gray = cv.cvtColor(frame, cv.COLOR_BGR2GRAY)
self.__markers_corners, self.__markers_ids, rejectedPoints = aruco.detectMarkers(gray, self.__aruco_dict, parameters = self.__aruco_param)
if len(self.__markers_corners) > 0 and estimate_pose:
# markers pose estimation
self.__rvecs, self.__tvecs, self.__points = aruco.estimatePoseSingleMarkers(self.__markers_corners, self.__marker_length, self.__camera.get_K(), self.__camera.get_D())
else:
self.__rvecs = []
self.__tvecs = []
self.__points = []
def track_board(self, frame, board, expected_markers_number):
"""Track ArUco markers board in frame setting up the number of detected markers needed to agree detection."""
# DON'T MIRROR FRAME : it makes the markers detection to fail
# detect markers from gray picture
gray = cv.cvtColor(frame, cv.COLOR_BGR2GRAY)
self.__markers_corners, self.__markers_ids, rejectedPoints = aruco.detectMarkers(gray, self.__aruco_dict, parameters = self.__aruco_param)
# if all board markers are detected
if self.get_markers_number() == expected_markers_number:
self.__board = board
self.__board_corners_number, self.__board_corners, self.__board_corners_ids = aruco.interpolateCornersCharuco(self.__markers_corners, self.__markers_ids, gray, self.__board.get_model())
else:
self.__board = None
self.__board_corners_number = 0
self.__board_corners = []
self.__board_corners_ids = []
def draw(self, frame):
"""Draw tracked markers in frame."""
# draw detected markers square
if len(self.__markers_corners) > 0:
aruco.drawDetectedMarkers(frame, self.__markers_corners, self.__markers_ids)
# draw marker axis if pose has been estimated
if len(self.__rvecs) > 0:
for (i, marker_id) in enumerate(self.__markers_ids):
aruco.drawAxis(frame, self.__camera.get_K(), self.__camera.get_D(), self.__rvecs[i], self.__tvecs[i], self.__marker_length)
def draw_board(self, frame):
"""Draw tracked board corners in frame."""
if self.__board != None:
cv.drawChessboardCorners(frame, ((self.__board.get_size()[0] - 1 ), (self.__board.get_size()[1] - 1)), self.__board_corners, True)
def get_markers_number(self):
"""Get tracked markers number."""
return len(self.__markers_corners)
def get_markers_ids(self):
"""Get tracked markers identifers."""
return self.__markers_ids
def get_marker_corners(self, i):
"""Get marker i corners."""
return self.__markers_corners[i]
def get_marker_rotation(self, i):
"""Get marker i rotation vector."""
return self.__rvecs[i]
def get_marker_translation(self, i):
"""Get marker i translation vector."""
return self.__tvecs[i]
def get_marker_points(self, i):
"""Get marker i points."""
return self.__points[i]
def get_board_corners_number(self):
"""Get tracked board corners number."""
return self.__board_corners_number
def get_board_corners_ids(self):
"""Get tracked board corners identifiers."""
return self.__board_corners_ids
def get_board_corners(self):
"""Get tracked board corners."""
return self.__board_corners
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