ArUco Marker Generation - Carleton-SRCL/SPOT GitHub Wiki

import numpy as np
import cv2 as cv
from matplotlib import pyplot as plt
import os

"""
Auto generates markers to be printed based on a specified dictionary for tracking
Written by Hayden Arms Sep 2023
"""

# Source: https://www.makeuseof.com/python-aruco-marker-generator-how-create/
# Dictionaries: https://docs.opencv.org/3.4/d9/d6a/group__aruco.html#ggac84398a9ed9dd01306592dd616c2c975a9f3ab829fb35fc9ff30e8f809d318e03

# MAIN
def main():
    print("OpenCV-Python Version:", cv.__version__)
    #  Marker Generation Param
    aruco_dict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_4X4_50)
    Method_Select = 2 # 1 == single, 2 == multiple
    Export = 1
    PltMarkers = 0
    ExportDir = r'/Directory'
    preDir = os.getcwd()

    if Method_Select == 1:
        marker_size = 200
        marker_id =  23 # marker ID for dictionary cv::aruco::DICT_6X6_250
        marker_img = generate_single_marker(aruco_dict,marker_size,marker_id,PltMarkers)
        if Export == 1:
            os.chdir(ExportDir)
            cv.imwrite("marker_{}.png".format(marker_id), marker_img)
            os.chdir(preDir)
    elif Method_Select == 2:
        marker_size = 200 # 200 x 200 pixel image
        num_markers = 9 # gen 3 markers
        out_mrkers = generate_bulk_markers(aruco_dict,marker_size,num_markers,PltMarkers)
        if Export == 1:
            os.chdir(ExportDir)
            for ind, item in enumerate(out_mrkers):
                cv.imwrite("marker_{}.png".format(ind), item)
            os.chdir(preDir)
    else:
        print("Invalid input. Please try again.")


# FUNCTIONS

def generate_single_marker(aruco_dict,marker_size,marker_id,pltTF):
    marker_img = cv.aruco.generateImageMarker(aruco_dict, marker_id, marker_size)
    # cv.imwrite("marker_{}.png".format(marker_id), marker_img)
    # marker_img = cv.imread("marker_{}.png".format(marker_id))
    print("Dimensions:", marker_img.shape)
    if pltTF == 1:
        plt
        plt.imshow(marker_img)
        plt.title('Generated Marker'), plt.xticks([]), plt.yticks([])
        plt.show()
    return marker_img

def generate_bulk_markers(aruco_dict,marker_size,num_markers,pltTF):
    marker_imgs = []
    for marker_id in range(num_markers):
        marker_img = cv.aruco.generateImageMarker(aruco_dict, marker_id, marker_size)
        # cv.imwrite("marker_{}.png".format(marker_id), marker_img)
        marker_imgs.append(marker_img)
    if pltTF == 1:
        _, axs = plt.subplots(num_markers, 1)
        for ind, item in enumerate(marker_imgs):
            print("Dimensions:", item.shape)
            axs[ind].imshow(item)
        plt.show()

    return marker_imgs

if __name__ == "__main__":
   main()


# GRAVEYARD

# testCanny = 0
# pathtoIm = "/Users/EightApplesJohnson/Desktop/Things/446.JPEG"

# # Canny Stuff
# img = cv.imread(pathtoIm, cv.IMREAD_GRAYSCALE)
# assert img is not None, "file could not be read, check with os.path.exists()"
# edges = cv.Canny(img,40,100)
# if testCanny == 1:
#     plt.subplot(121),plt.imshow(img,cmap = 'gray')
#     plt.title('Original Image'), plt.xticks([]), plt.yticks([])
#     plt.subplot(122),plt.imshow(edges,cmap = 'gray')
#     plt.title('Edge Image'), plt.xticks([]), plt.yticks([])
#     plt.show()