def __init__(self, n_markers, marker_length, field_length, field_width, barrier_heigth, positions, ball, goal):
markers_board = n_markers - 1 # n_markers includes marker for goal
self.marker_ids = np.arange(1, n_markers)
self.marker_list = [Marker(marker_length, positions[i]) for i in range(markers_board)]
corner_ul = np.array([field_width, 0.0, barrier_heigth])
corner_ur = np.array([field_width, field_length, barrier_heigth])
corner_lr = np.array([0.0, field_length, barrier_heigth])
corner_ll = np.array([0.0, 0.0, barrier_heigth])
self.field_corners = np.array([[corner_ul], [corner_ur], [corner_lr], [corner_ll]])
self.object_points = np.array([self.marker_list[i].corners for i in range(markers_board)], np.float32)
self.ball = ball
self.goal = goal
self.dict = aruco.Dictionary_create(n_markers, 6)
self.parameters = aruco.DetectorParameters_create()
self.board = aruco.Board_create(self.object_points, self.dict, self.marker_ids)
self.visible = False
self.set = False
self.ball_in_goal = False
self.corners = None
self.ids = None
self.rvec = None
self.tvec = None
self.rot_mtx = None
self.inv_rot_mtx = None
self.inv_mtx = None
self.tvec_camera = None
self.roi_points = None
self.radius_max = 250.0
self.radius_min = 15.0
self.tolerance = 0.1
def createDict(): # creates dictionary of markers based on marker bit arrays markers = aruco.Dictionary_create(bit_arrays.shape[0], bit_arrays.shape[1]) byte_arrays = [] for array in bit_arrays: byte_arrays.append(aruco.Dictionary_getByteListFromBits(array)) bytesList = np.concatenate(byte_arrays, 0) markers.bytesList = bytesList return markers
def __init__(self, *args, **kwargs):
"""Set up all the required environment variables"""
env_vars = [
("SDL_FBDEV", "/dev/fb1"),
("SDL_MOUSEDEV", "/dev/input/touchscreen"),
("SDL_MOUSEDRV", "TSLIB"),
]
for var_name, val in env_vars:
os.environ[var_name] = val
self.timeout = kwargs.pop('timeout', 120)
self.markers = aruco.Dictionary_create(6, 3)
def generate_single():
aruco_dict = aruco.Dictionary_create(1, 3)
img = aruco.drawMarker(aruco_dict, 0, 1000)
fig = plt.figure()
fig.set_size_inches(10, 10)
plt.imshow(img, cmap=plt.get_cmap("gray"), interpolation="nearest")
plt.axis('off')
plt.savefig("img/CustomDict_3x3_1/tag.png")
plt.show()
import sys
sys.path.append('/usr/local/lib/python2.7/site-packages')
import cv2
import numpy as np
import cv2.aruco as aruco
import dill
#small_dict = aruco.generateCustomDictionary(6, 3)
NUM_OF_MARKERS = 6
small_dict = aruco.Dictionary_create(NUM_OF_MARKERS, 3)
'''
drawMarker(...)
drawMarker(dictionary, id, sidePixels[, img[, borderBits]]) -> img
'''
#print ("created_dictionary.markerSize: %s" % small_dict.markerSize)
#print("created_dictionary: %s" % small_dict)
#data = {"mS": small_dict.markerSize, "mCB": small_dict.maxCorrectionBits, "bL": small_dict.bytesList}
#print data
#dill.dump(data,open("markers.dill", "wb"))
#new_data = dill.load(open('markers.dill', "rb"))
#print new_data
#loaded_dict = aruco.Dictionary_create(0, 3)
#loaded_dict.markerSize = new_data["mS"]
#loaded_dict.maxCorrectionBits = new_data["mCB"]
#loaded_dict.bytesList = new_data["bL"]
#loaded_dict = aruco.Dictionary(new_data["mS"], new_data["mCB"], new_data["bL"])
#print("saved and reloaded dictionary: %s" % loaded_dict)
#print("saved and reloaded dictionary.markerSize:" % loaded_dict.markerSize)
import pickle
from cv2 import aruco
import cv2
import numpy as np
# arudict = aruco.Dictionary_get(pickle.load(f))
img1 = np.full((2970, 2100), 255, dtype=np.uint8)
arudict = aruco.Dictionary_create(8, 3)
side = 500
def draw_board(dict, start):
img = np.full((1200, 1800), 255, dtype=np.uint8)
cv2.rectangle(img, (1, 1), (1800, 1200), 220)
cv2.line(img, (600, 0), (600, 1200), 220)
cv2.line(img, (1200, 0), (1200, 1200), 220)
aruco.drawMarker(dict, start + 0, side, img[50: 50 + side,
900 - side // 2: 900 + side // 2])
aruco.drawMarker(dict, start + 1, side, img[650: 650 + side,
900 - side // 2: 900 + side // 2])
aruco.drawMarker(dict, start + 2, side, img[600 - side // 2: 600 + side // 2,
300 - side // 2: 300 + side // 2])
aruco.drawMarker(dict, start + 3, side, img[600 - side // 2: 600 + side // 2,
1500 - side // 2: 1500 + side // 2])
return img
img = np.full((2970, 2100), 255, dtype=np.uint8)
img[200:200 + 1200, 150:150 + 1800] = draw_board(arudict, 0)
img[1570:1570 + 1200, 150:150 + 1800] = draw_board(arudict, 4)
The image file is renamed using the tree number and orientation
'''
name = 'images/test_image.jpg'
parameters = aruco.DetectorParameters_create()
# Load custom dictionary
dict_file = 'data/CUSTOM_ARUCO_MARKERS_DICT_8x8_512.pkl'
if os.path.isfile(dict_file):
print ('Loading existing dictionary')
with open(dict_file, 'rb') as fd:
cdic_serializable = pickle.load(fd)
cdic = aruco.Dictionary_create(5,3)
cdic.markerSize = cdic_serializable['markerSize']
cdic.maxCorrectionBits = cdic_serializable['maxCorrectionBits']
cdic.bytesList = cdic_serializable['bytesList']
else:
print ('ERROR: Could not read dictionary file!')
sys.exit()
# Read test image
ima = cv2.imread(name)
gray = cv2.cvtColor(ima, cv2.COLOR_BGR2GRAY)
h,w = ima.shape[0:2]
corners, ids, rejectedImgPoints = aruco.detectMarkers(gray, cdic, parameters=parameters)
print ('Markers found in image: ', ids)
# cap.set(cv2.CV_CAP_PROP_FOURCC, cv2.CV_FOURCC('M', 'J', 'P', 'G') );
# cap.set(cv2.CAP_PROP_FRAME_WIDTH,1280)
# cap.set(cv2.CAP_PROP_FRAME_HEIGHT,720)
# print(cap.get(cv2.CAP_PROP_FRAME_WIDTH))
# print(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
while True:
_,frame = cap.read()
# print(frame)
# gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
gray = frame[:,:,0].astype(np.uint8)
aruco_dict = aruco.Dictionary_get(aruco.DICT_4X4_250)
aruco_dict_one = aruco.Dictionary_create(1, 4)
# img = np.ones([500,500])
# img = np.full((500,500), 255, np.uint8)
# img = aruco.drawMarker(aruco_dict,50,200)
img = aruco.drawMarker(aruco_dict_one,0,200)
# cv2.imshow("Marker", img)
parameters = aruco.DetectorParameters_create()
# corners, ids, rejectedImgPoints = aruco.detectMarkers(gray, aruco_dict_one, parameters=parameters)
corners, ids, rejectedImgPoints = aruco.detectMarkers(gray, aruco_dict, parameters=parameters)
# frame_markers = gray
# frame_markers = aruco.drawDetectedMarkers(gray.copy(), corners, ids)
gray_markers = aruco.drawDetectedMarkers(gray.copy(), corners, ids)
if ids is not None:
import sys
import os
import cv2
from cv2 import aruco
from docopt import docopt
import pickle
if __name__ == '__main__':
# read args
args = docopt(__doc__)
out_dir = args['<outDir>']
dict_base = args['--dictBase']
marker_size = int(args['--markerSize'])
num_codes = int(args['--numCodes'])
dict_file = '{od}/{dict_base}_{ms}x{ms}_{nm}.pkl'.format(
od=out_dir, dict_base=dict_base, ms=marker_size, nm=num_codes)
print('Creating new dictionary: {}'.format(dict_file))
cdic = aruco.Dictionary_create(num_codes, marker_size)
cdic_serializable = {}
cdic_serializable['markerSize'] = cdic.markerSize
cdic_serializable['maxCorrectionBits'] = cdic.maxCorrectionBits
cdic_serializable['bytesList'] = cdic.bytesList
with open(dict_file, 'wb') as fd:
print('Saving dictionary as: {}'.format(dict_file))
pickle.dump(cdic_serializable, fd)
screen_width = 480
screen_centre = screen_width / 2
screen_height = 640
camera = picamera.PiCamera()
camera.resolution = (screen_width, screen_height)
camera.framerate = 30
camera.iso = 800
camera.shutter_speed = 12000
pygame.init()
screen = pygame.display.set_mode([240, 320])
video = picamera.array.PiRGBArray(camera)
drive = DriveTrain(timeout=120)
#create small cust dictionary
small_dict = aruco.Dictionary_create(6, 3)
print("setup complete, looking")
last_t_error = 0
speed = 0
MIN_SPEED = 0
MAX_SPEED = 1
STEERING_OFFSET = 0.0 #more positive make it turn left
STRAIGHT_TOLERANCE = 0.2
ACC_RATE = 0.2
CROP_WIDTH = 360
i = 0
TIMEOUT = 4.0
START_TIME = time.clock()
END_TIME = START_TIME + TIMEOUT
found = False
Press SPACE when you're satisfied with the origin and axis.
The marker pose is saved in origin.npz."""
import cv2
import cv2.aruco as aruco
import numpy as np
# load the camera calibration parameters
calfile = np.load('calibration.npz')
newcameramtx = calfile['newcameramtx']
mtx = calfile['mtx']
dist = calfile['dist']
roi = calfile['roi']
# use a dictionary of 25 3x3 markers
aruco_dict = aruco.Dictionary_create(25, 3)
# size of the frames
width = 640
height = 480
# create the mappings to undistort the frames
map1, map2 = cv2.initUndistortRectifyMap(mtx, dist, None, None,
(width, height), cv2.CV_32FC1)
# size of the origin marker
# the unit of this length will define the unit of the world frame coordinates
markerLength = 2.6 # 4.1
# start the capture (on camera channel 0)
cap = cv2.VideoCapture(0)
import os import sys #sys.path.insert(0, '/usr/local/python/cv2') sys.path.insert(0, '/usr/local/python/cv2/python-2.7/') import numpy as np import cv2 print cv2.__version__ import cv2.aruco as aruco aruco_dict = aruco.Dictionary_get(aruco.DICT_6X6_250) print aruco.DICT_6X6_250 test_dict = aruco.Dictionary_create(250, 6) print test_dict.bytesList sys.exit() help(aruco) sys.exit() test_dict = aruco.custom_dictionary(250, 6) print test_dict.bytesList sys.exit() #x = aruco.custom_dictionary_from(250, 36, "/home/abe/data/vision/mip36h12.dict") #print x #help(aruco_dict)
marker_size = int(args['--markerSize'])
num_codes = int(args['--numCodes'])
num_markers = int(args['--numMarkers'])
out_dir = args['--outDir']
dict_file = '{dd}/{dict_base}_{ms}x{ms}_{nc}.pkl'.format(
dd=data_dir, dict_base=dict_base, ms=marker_size, nc=num_codes)
if os.path.isfile(dict_file):
print('Loading existing dictionary: {}'.format(dict_file))
with open(dict_file, 'rb') as fd:
cdic_serializable = pickle.load(fd)
cdic = aruco.Dictionary_create(
5, 3
) # Create a small (i.e. fast) marker dictionary because I do not know how to create an empty dict.
cdic.markerSize = cdic_serializable['markerSize']
cdic.maxCorrectionBits = cdic_serializable['maxCorrectionBits']
cdic.bytesList = cdic_serializable['bytesList']
else:
print('Dictionary file {} not found'.format(dict_file))
sys.exit()
#list_codes = [1, 100, 1000, 1965, 2001, 2019, 3003, 4004] # Change at will
#list_codes = [4057, 3883,2883, 1711, 812, 351, 1, 0] # Change at will
list_codes = np.random.randint(low=0, high=num_codes - 1, size=num_markers)
marker_size_in_cm = 8
resolution_inch_cm = 300
num_pixels = int(round((marker_size_in_cm / 2.54) * resolution_inch_cm))
'-s',
'--start',
type=int,
default=def_start,
help='first marker to generate, default= {}'.format(def_start))
parser.add_argument('-e',
'--end',
type=int,
default=def_end,
help='last marker to generate default= {}'.format(def_end))
parser.add_argument('-v',
'--view',
action="store_true",
help='show marker on monitor')
args = parser.parse_args()
if args.dict == 99: # use special 3x3 dictionary
aruco_dict = aruco.Dictionary_create(32, 3)
else:
aruco_dict = aruco.Dictionary_get(args.dict)
if args.end < args.start:
args.end = args.start
#fig = plt.figure()
for i in range(args.start, args.end + 1):
img = aruco.drawMarker(aruco_dict, i, 1000)
plt.axis('off')
plt.imshow(img, cmap=mpl.cm.gray, interpolation="nearest")
plt.savefig("marker{}.png".format(i))
if args.view:
plt.show()
def __init__(self, args, params, parser):
""" Initialize GcpFind object
:param args: processed command line parameters
:param params: aruco find param
:param parser: parser object to print help
"""
self.args = args
# prepare aruco
if args.dict == 99: # use special 3x3 dictionary
self.aruco_dict = aruco.Dictionary_create(32, 3)
else:
self.aruco_dict = aruco.Dictionary_get(args.dict)
# set aruco parameters from command line arguments
self.params = params
self.params.detectInvertedMarker = args.inverted
self.params.adaptiveThreshWinSizeMin = args.winmin
self.params.adaptiveThreshWinSizeMax = args.winmax
self.params.adaptiveThreshWinSizeStep = args.winstep
self.params.adaptiveThreshConstant = args.thres
self.params.minMarkerPerimeterRate = args.minrate
self.params.maxMarkerPerimeterRate = args.maxrate
self.params.polygonalApproxAccuracyRate = args.poly
self.params.minCornerDistanceRate = args.corner
self.params.minMarkerDistanceRate = args.markerdist
self.params.minDistanceToBorder = args.borderdist
self.params.markerBorderBits = args.borderbits
self.params.minOtsuStdDev = args.otsu
self.params.perspectiveRemovePixelPerCell = args.persp
self.params.perspectiveRemoveIgnoredMarginPerCell = args.ignore
self.params.maxErroneousBitsInBorderRate = args.error
self.params.errorCorrectionRate = args.correct
self.params.cornerRefinementMethod = args.refinement
self.params.cornerRefinementWinSize = args.refwin
self.params.cornerRefinementMaxIterations = args.maxiter
self.params.cornerRefinementMinAccuracy = args.minacc
if args.list:
# list available aruco dictionary names & exit
for act_dict in self.list_dicts():
print('{} : {}'.format(act_dict[0], act_dict[1]))
# list all aruco parameters
for par in dir(self.params):
if not par.startswith('__'):
val = getattr(self.params, par)
if type(val) in (int, float, str, bool):
print('{} : {}'.format(par, val))
sys.exit(0)
self.coords = {}
self.gcp_found = {} # initialize gcp to image dict
if not self.check_params():
parser.print_help()
sys.exit(1)
if self.args.input:
# load GCP coords
self.coo_input()
if args.type == 'ODM' and args.epsg is not None:
# write epsg code to the beginning of the output
self.foutput.write('EPSG:{}\n'.format(args.epsg))
# lookup table for color correction
self.lut = np.interp(np.arange(0, 256), self.LUT_IN,
self.LUT_OUT).astype(np.uint8)