def __init__(self, nMarkers=8, markerSize=3, markerLength=0.012, markerSeparation=0.003, randomSeed=10, size=(0, 0)):
self.aruco_dict = aruco.custom_dictionary(nMarkers, markerSize, randomSeed)
if size == (0, 0):
self.size = (1, nMarkers)
self.board = aruco.GridBoard_create(1, nMarkers, markerLength, markerSeparation, self.aruco_dict)
else:
self.size = size
self.board = aruco.GridBoard_create(size[0], size[1], markerLength, markerSeparation, self.aruco_dict)
def __init__(self):
self.dictionary = aruco.custom_dictionary(10, 6)
self.pose_world = Pose()
# self.pose_tello = Pose()
# self.pose_world_to_tello = Pose()
self.marker_size_world = 0.2
# self.marker_size_tello = 0.02
self.image_out = np.zeros((1, 1), dtype=np.float32)
self.is_detected = False
def get_dictionary():
path = os.path.join('assets', 'dictByteList.json')
try:
if not os.path.isfile(path):
raise FileNotFoundError()
storage = cv2.FileStorage(path, cv2.FILE_STORAGE_READ)
dictionary = aruco.custom_dictionary(1000, 5)
dictionary.markerSize = int(storage.getNode("markerSize").real())
dictionary.maxCorrectionBits = int(storage.getNode("maxCorrectionBits").real())
dictionary.bytesList = storage.getNode("bytesList").mat()
storage.release()
except FileNotFoundError as e:
storage = cv2.FileStorage(path, cv2.FILE_STORAGE_WRITE)
dictionary = aruco.custom_dictionary(1000, 5)
storage.write("markerSize", dictionary.markerSize)
storage.write("maxCorrectionBits", dictionary.maxCorrectionBits)
storage.write("bytesList", dictionary.bytesList)
storage.release()
return dictionary
def __init__(self):
self.url = "http://192.168.3.22:8080/?action=stream"
self.capture = cv2.VideoCapture(self.url)
self.dictionary = aruco.custom_dictionary(10, 6)
self.pose_world = Pose()
self.pose_tello = Pose()
self.pose_world_to_tello = Pose()
self.marker_size_world = 0.04
self.marker_size_tello = 0.02
self.image = np.zeros((1, 1), dtype=np.float32)
self.is_detected = False
def __init__(self):
# Create custom dictionary (# markers, # bits)
self.arucoDict = aruco.custom_dictionary(17, 3)
# Calibration
self.mtx = None
self.dist = None
# Calibration directories
self.calibrationDir = 'calibrationImgs/'
self.imgExtension = '.jpg'
def get_dictionary():
aruco_dict = aruco.custom_dictionary(0, 5, 1)
aruco_dict.bytesList = np.empty(shape=(11, 4, 4), dtype=np.uint8)
# LEG 1
mybits = np.array([
[1, 1, 1, 1, 1],
[1, 1, 0, 0, 1],
[1, 1, 1, 1, 1],
[0, 0, 1, 0, 1],
[0, 0, 1, 0, 1]
], dtype=np.uint8)
aruco_dict.bytesList[0] = aruco.Dictionary_getByteListFromBits(mybits)
# LEG 2
mybits = np.array([
[1, 1, 0, 1, 1],
[1, 1, 0, 1, 1],
[1, 0, 1, 0, 1],
[0, 0, 1, 1, 0],
[1, 1, 1, 0, 1]
], dtype=np.uint8)
aruco_dict.bytesList[1] = aruco.Dictionary_getByteListFromBits(mybits)
# LEG 3
mybits = np.array([
[1, 1, 0, 1, 1],
[1, 1, 0, 1, 1],
[1, 0, 1, 0, 1],
[1, 0, 1, 1, 0],
[1, 0, 1, 1, 0]
], dtype=np.uint8)
aruco_dict.bytesList[2] = aruco.Dictionary_getByteListFromBits(mybits)
# LEG 4
mybits = np.array([
[1, 1, 0, 1, 1],
[1, 1, 0, 1, 1],
[1, 0, 1, 0, 1],
[0, 1, 1, 1, 1],
[1, 0, 1, 0, 0]
], dtype=np.uint8)
aruco_dict.bytesList[3] = aruco.Dictionary_getByteListFromBits(mybits)
mybits = np.array([
[1, 1, 0, 1, 1],
[1, 1, 0, 1, 1],
[1, 0, 1, 0, 1],
[0, 1, 1, 1, 0],
[0, 1, 1, 1, 0]
], dtype=np.uint8)
aruco_dict.bytesList[4] = aruco.Dictionary_getByteListFromBits(mybits)
# LEG 5
mybits = np.array([
[1, 1, 0, 1, 1],
[1, 1, 0, 1, 1],
[1, 0, 1, 0, 1],
[1, 0, 1, 1, 1],
[0, 1, 1, 0, 0]
], dtype=np.uint8)
aruco_dict.bytesList[5] = aruco.Dictionary_getByteListFromBits(mybits)
mybits = np.array([
[1, 1, 0, 1, 1],
[1, 1, 0, 1, 1],
[1, 0, 1, 0, 1],
[0, 0, 1, 1, 1],
[0, 0, 1, 1, 1]
], dtype=np.uint8)
aruco_dict.bytesList[6] = aruco.Dictionary_getByteListFromBits(mybits)
# LEG 6
mybits = np.array([
[1, 1, 0, 1, 1],
[1, 1, 0, 1, 1],
[1, 0, 1, 0, 1],
[1, 1, 1, 1, 0],
[0, 0, 1, 0, 1]
], dtype=np.uint8)
aruco_dict.bytesList[7] = aruco.Dictionary_getByteListFromBits(mybits)
mybits = np.array([
[1, 1, 0, 1, 1],
[1, 1, 0, 1, 1],
[1, 0, 1, 0, 1],
[0, 0, 1, 0, 1],
[1, 1, 1, 1, 0]
], dtype=np.uint8)
aruco_dict.bytesList[8] = aruco.Dictionary_getByteListFromBits(mybits)
# LEG 7
mybits = np.array([
[1, 1, 0, 1, 1],
[1, 1, 0, 1, 1],
[1, 0, 1, 0, 1],
[1, 1, 1, 0, 0],
[1, 1, 1, 0, 0]
], dtype=np.uint8)
aruco_dict.bytesList[9] = aruco.Dictionary_getByteListFromBits(mybits)
mybits = np.array([
[1, 1, 0, 1, 1],
[1, 1, 0, 1, 1],
[1, 0, 1, 0, 1],
[0, 1, 1, 0, 0],
[1, 0, 1, 1, 1]
], dtype=np.uint8)
aruco_dict.bytesList[10] = aruco.Dictionary_getByteListFromBits(mybits)
return aruco_dict
import os
import cv2
from cv2 import aruco
aruco_dict = aruco.custom_dictionary(20, 3, 1)
cap = cv2.VideoCapture(0)
while (True):
ret, frame = cap.read()
corners, ids, rejectedImgPoints = aruco.detectMarkers(
frame, aruco_dict, parameters=aruco.DetectorParameters_create())
frame = aruco.drawDetectedMarkers(frame, corners, ids, (255, 0, 255))
cv2.imshow('Look IDs', frame)
# 若按下 q 鍵則離開
if cv2.waitKey(1) & 0xFF == ord('q'):
break
import cv2
import cv2.aruco as aruco
import math
from tkinter import *
from tkinter import filedialog
from PIL import Image, ImageTk
import matplotlib.pyplot as plt
import matplotlib.image as img
# we will not use a built-in dictionary, but we could
# aruco_dict = aruco.Dictionary_get(aruco.DICT_4X4_50)
# define an empty custom dictionary with
aruco_dict = aruco.custom_dictionary(44, 5, 1)
# add empty bytesList array to fill with 3 markers later
aruco_dict.bytesList = np.empty(shape=(44, 4, 4), dtype=np.uint8)
# add new marker(s)
mybits = np.array([[0, 1, 1, 0, 0], [1, 0, 1, 0, 0], [0, 0, 1, 0, 0],
[0, 0, 1, 0, 0], [1, 1, 1, 1, 1]],
dtype=np.uint8)
aruco_dict.bytesList[0] = aruco.Dictionary_getByteListFromBits(mybits)
mybits = np.array([[0, 1, 1, 1, 0], [1, 0, 0, 0, 1], [0, 0, 0, 1, 0],
[0, 0, 1, 0, 0], [1, 1, 1, 1, 1]],
dtype=np.uint8)
aruco_dict.bytesList[1] = aruco.Dictionary_getByteListFromBits(mybits)
mybits = np.array([[0, 1, 1, 1, 0], [1, 0, 0, 0, 1], [0, 0, 1, 1, 0],
[1, 0, 0, 0, 1], [0, 1, 1, 1, 0]],
dtype=np.uint8)
import rospy
from sensor_msgs.msg import CompressedImage
from geometry_msgs.msg import TwistStamped
from sensor_msgs.msg import Image
from sensor_msgs.msg import Imu
from cv_bridge import CvBridge, CvBridgeError
import cv2.aruco as aruco
from scipy.spatial.transform import Rotation as R
import time
import tf
HEIGHT_CUT = 200
VERBOSE = True
aruco_dict = aruco.custom_dictionary(0, 7)
aruco_dict.bytesList = np.zeros(shape=(16, 7, 4), dtype=np.uint8)
ar = np.array([[1, 1, 0, 1, 1], [1, 1, 0, 1, 1], [1, 0, 1, 0, 1],
[0, 0, 1, 1, 0], [1, 1, 1, 0, 1]],
dtype=np.uint8)
aruco_dict.bytesList[1] = aruco.Dictionary_getByteListFromBits(
np.pad(ar, pad_width=1, mode='constant', constant_values=0))
ar = np.array([[1, 1, 0, 1, 1], [1, 1, 0, 1, 1], [1, 0, 1, 0, 1],
[1, 0, 1, 1, 0], [1, 0, 1, 1, 0]],
dtype=np.uint8)
aruco_dict.bytesList[2] = aruco.Dictionary_getByteListFromBits(
np.pad(ar, pad_width=1, mode='constant', constant_values=0))
ar = np.array([[1, 1, 0, 1, 1], [1, 1, 0, 1, 1], [1, 0, 1, 0, 1],
# """
# JUST ONE EXECUTION IS NEEDED.
# Two png files will appear in markers directory.
# Each time you open the TWINBOT simulator, disable the aruco markers of the Girona 500 1,
# and adjust the aruco markers of the Girona 500 2 to the new ones.
# C:\Users\Usuario\Desktop\Sistemas Inteligentes UJI\Asignaturas\2o trimestre\Robótica Cooperativa\TwinbotControl\markers
# """
import cv2 as cv
import cv2.aruco as aruco
numMarkers = 2
markerSize = 4
CUSTOM_DICT = aruco.custom_dictionary(numMarkers, markerSize, 0)
def get_custom_dict():
return CUSTOM_DICT
if __name__ == "__main__":
pixels_per_cell = 20
for i in range(numMarkers):
img = aruco.drawMarker(CUSTOM_DICT, i,
pixels_per_cell * (markerSize + 2))
cv.imwrite("markers/marker{:d}.png".format(i), img)
[[-sd / 2., sp / 2., ht]]],
[[[-sd / 2., -sp / 2, ht]], [[sd / 2., -sp / 2., ht]], [[sd / 2., -(sp / 2. + sd), ht]],
[[-sd / 2., -(sp / 2. + sd), ht]]],
[[[-wr / 2., sd / 2., hs - sd]], [[-wr / 2., sd / 2., hs]], [[-wr / 2., -sd / 2., hs]],
[[-wr / 2., -sd / 2., hs - sd]]],
[[[wr / 2., sd / 2., hs]], [[wr / 2., sd / 2., hs - sd]], [[wr / 2., -sd / 2., hs - sd]],
[[wr / 2., -sd / 2., hs]]]], dtype=np.float32)
# objPoints = np.array([[[[-sd/2., sp/2.+sd, ht]], [[sd/2., sp/2.+sd, ht]], [[sd/2., sp/2., ht]], [[-sd/2., sp/2., ht]]],
# [[[-sd/2., -sp/2, ht]], [[sd/2., -sp/2., ht]], [[sd/2., -(sp/2.+sd), ht]], [[-sd/2., -(sp/2.+sd), ht]]]], dtype=np.float32)
cam = cv2.VideoCapture(0)
cam.set(cv2.CAP_PROP_FRAME_WIDTH, FRAME_W)
cam.set(cv2.CAP_PROP_FRAME_HEIGHT, FRAME_H)
cam.set(cv2.CAP_PROP_FPS, FPS)
arudict = aruco.custom_dictionary(8, 3)
logitech_cam_matrix = np.array([6.6419013281274511e+02, 0., 3.3006505461506646e+02, 0.,
6.6587003740196826e+02, 2.3030870519881907e+02, 0., 0., 1.])
logitech_cam_matrix = logitech_cam_matrix.reshape((3, 3))
logitech_dist_coeffs = np.array([2.0806786957819065e-01, -3.6839605435678208e-01,
-1.2078578161331370e-02, 6.4294407773653481e-03,
4.2723310854154123e-01])
car_board0 = aruco.Board_create(objPoints, arudict, np.arange(0, 4))
car_board1 = aruco.Board_create(objPoints, arudict, np.arange(4, 8))
while True:
ret, frame = cam.read()
corners, ids, rejected = aruco.detectMarkers(frame, arudict)
corners, ids, rejected, recovered = aruco.refineDetectedMarkers(frame, car_board0, corners, ids, rejected,
logitech_cam_matrix, logitech_dist_coeffs)
def detect_markers(img_filepath):
# img_filepath should be a .png
img = cv2.imread(img_filepath)
arr = [
[0, 0, 0, 0, 0, 0, 0],
[0, 1, 1, 0, 1, 1, 0],
[0, 1, 1, 0, 1, 1, 0],
[0, 1, 0, 1, 0, 1, 0],
[0, 0, 1, 1, 1, 0, 0],
[0, 0, 1, 1, 1, 0, 0],
[0, 0, 0, 0, 0, 0, 0],
]
arr_flat = []
for a in arr:
for b in a:
arr_flat.append(b)
mat = np.array(arr_flat)
bytesList = aruco.Dictionary_getByteListFromBits(mat)
marker_dict = aruco.custom_dictionary(1, 7)
marker_dict.bytesList = bytesList
# marker_dict.maxCorrectionBits = 10
img1 = aruco.drawMarker(marker_dict, 0, 500)
cv2.imwrite("mtest.jpg", img1)
#parameters = aruco.DetectorParameters_create()
# marker_dict = aruco.Dictionary_get(aruco.DICT_6X6_250)
corners, ids, rejectedImgPoints = aruco.detectMarkers(img, marker_dict)
print(corners)
#IPython.embed()
for corner_set in corners:
#corner_set is 1, 4, 2
corner1 = corner_set[0, 0, :]
corner2 = corner_set[0, 1, :]
corner3 = corner_set[0, 2, :]
corner4 = corner_set[0, 3, :]
corner1 = np.expand_dims(corner1, axis=1)
corner2 = np.expand_dims(corner2, axis=1)
corner3 = np.expand_dims(corner3, axis=1)
corner4 = np.expand_dims(corner4, axis=1)
axis1 = corner3 - corner1
axis2 = corner2 - corner4
print(axis1.shape)
A = np.hstack((axis1, -axis2))
#IPython.embed()
b = corner4 - corner1
x = np.linalg.solve(A, b)
square_center = corner4 + x[1][0] * axis2
red = [0, 0, 255]
# Change one pixel
#IPython.embed()
x = int(round(square_center[0][0]))
y = int(round(square_center[1][0]))
#print(x, y)
cv2.circle(img, (x, y), 4, red, -1)
#img[x,y]=red
# img = cv2.resize(img, (int(img.shape[0]/4), int(img.shape[1]/4)))
img_with_markers = aruco.drawDetectedMarkers(img, corners)
cv2.imwrite("btest.jpg", img_with_markers)
cv2.imshow('image', img_with_markers)
cv2.waitKey(0)
cv2.destroyAllWindows()
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) nbits = 36 tail_fmt = "0" + str(8 + nbits - 8 * 5) + "b" byte_stride = 5 def test_byte_print():
import cv2
import cv2.aruco as ar
import pickle
arudict = ar.custom_dictionary(8, 4)
with open('4x4_8_dict.pickle', 'wb') as f:
pickle.dump((arudict.bytesList, arudict.markerSize, arudict.maxCorrectionBits), f)
print(arudict)
#fig = plt.figure()
#nx = 4
#ny = 3
#for i in range(1, nx*ny+1):
# ax = fig.add_subplot(ny,nx, i)
# img = aruco.drawMarker(aruco_dict,i, 700)
# plt.imshow(img, cmap = mpl.cm.gray, interpolation = "nearest")
# ax.axis("off")
#plt.savefig("marcadores1.pdf")
#plt.show(
# )
aruco_dict = aruco.custom_dictionary(20, 7, 2)
aruco_dict.bytesList = np.empty(shape=(20, 7, 4), dtype=np.uint8)
mybits1 = np.array(
[[0, 0, 0, 0, 0, 0, 0], [0, 1, 1, 0, 1, 1, 0], [0, 1, 1, 0, 1, 1, 0],
[0, 1, 0, 1, 0, 1, 0], [0, 1, 1, 1, 1, 1, 0], [0, 1, 1, 1, 1, 1, 0],
[0, 0, 0, 0, 0, 0, 0]],
dtype=np.uint8)
aruco_dict.bytesList[0] = aruco.Dictionary_getByteListFromBits(mybits1)
mybits2 = np.array(
[[0, 0, 0, 0, 0, 0, 0], [0, 1, 1, 0, 1, 1, 0], [0, 1, 1, 0, 1, 1, 0],
[0, 1, 0, 1, 0, 1, 0], [0, 1, 0, 1, 1, 0, 0], [0, 1, 0, 1, 1, 0, 0],
[0, 0, 0, 0, 0, 0, 0]],
dtype=np.uint8)
aruco_dict.bytesList[1] = aruco.Dictionary_getByteListFromBits(mybits2)
import numpy as np
import cv2
import cv2.aruco as ar
dict = ar.custom_dictionary(10, 5)
print dict
img = ar.drawMarker(dict, 2, 700)
cv2.imwrite("gen_marker.jpg", img)
cv2.imshow('frame', img)
cv2.waitKey(0)
cv2.destroyAllWindows()
