ArucoDetect.py

gistfile1.txt

#pip install opencv-contrib-python --user
import cv2 as cv
import numpy as np
import argparse
import sys
import imutils
import glob
import os
import json


ARUCO_DICT = {
	"DICT_4X4_50": cv.aruco.DICT_4X4_50,
	"DICT_4X4_100": cv.aruco.DICT_4X4_100,
	"DICT_4X4_250": cv.aruco.DICT_4X4_250,
	"DICT_4X4_1000": cv.aruco.DICT_4X4_1000,
	"DICT_5X5_50": cv.aruco.DICT_5X5_50,
	"DICT_5X5_100": cv.aruco.DICT_5X5_100,
	"DICT_5X5_250": cv.aruco.DICT_5X5_250,
	"DICT_5X5_1000": cv.aruco.DICT_5X5_1000,
	"DICT_6X6_50": cv.aruco.DICT_6X6_50,
	"DICT_6X6_100": cv.aruco.DICT_6X6_100,
	"DICT_6X6_250": cv.aruco.DICT_6X6_250,
	"DICT_6X6_1000": cv.aruco.DICT_6X6_1000,
	"DICT_7X7_50": cv.aruco.DICT_7X7_50,
	"DICT_7X7_100": cv.aruco.DICT_7X7_100,
	"DICT_7X7_250": cv.aruco.DICT_7X7_250,
	"DICT_7X7_1000": cv.aruco.DICT_7X7_1000,
	"DICT_ARUCO_ORIGINAL": cv.aruco.DICT_ARUCO_ORIGINAL,
	"DICT_APRILTAG_16h5": cv.aruco.DICT_APRILTAG_16h5,
	"DICT_APRILTAG_25h9": cv.aruco.DICT_APRILTAG_25h9,
	"DICT_APRILTAG_36h10": cv.aruco.DICT_APRILTAG_36h10,
	"DICT_APRILTAG_36h11": cv.aruco.DICT_APRILTAG_36h11
}



# construct the argument parser and parse the arguments
ap = argparse.ArgumentParser()
# ap.add_argument("-i", "--image", required=True,
# 	help="path to input image containing ArUCo tag")
ap.add_argument("-t", "--type", type=str,
	default="DICT_4X4_50",
	help="type of ArUCo tag to detect")
args = vars(ap.parse_args())





def processimage(image,completePath,cameraData):
	(head,tail)= os.path.split(image)
	image = cv.imread(image)
	print(image.shape)
	print(tail)
	if ARUCO_DICT.get(args["type"], None) is None:
		print("[INFO] ArUCo tag of '{}' is not supported".format(
			args["type"]))
		sys.exit(0)
	arucoDict = cv.aruco.Dictionary_get(ARUCO_DICT[args["type"]])
	arucoParams = cv.aruco.DetectorParameters_create()
	(corners, ids, rejected) = cv.aruco.detectMarkers(image, arucoDict,parameters=arucoParams)



	# output detection log
	outpath = os.path.join(r"A:\Controllerscan\coke\mov1\det", str(tail.split(".")[0]+".txt"))
	data = {"corners","id","rejected"}
	with open(outpath, 'w',encoding='utf-8') as f:
		#see if image has registration...
		frameData = cameraData.split("\n")
		releventData = -1
		for frame in frameData:
			try:
				frame.split(",").index(tail)
				releventData= frame
				# print(releventData)
				break
			except  ValueError:
				releventData=-1
				#print("was not able to find: ",tail)





		if corners is not None and ids is not None:
			ids = ids.flatten()
			for (markerCorner, markerID) in zip(corners, ids):
				for cindex,c in enumerate(markerCorner[0]):
					f.write(str(markerID)+","+str(cindex) +"," )
					f.write(str(c[0]/image.shape[1]) +","+str(c[1]/image.shape[0])+"," )
					f.write(str(image.shape[1])+","+str(image.shape[0])+",")
					f.write(releventData)
					# f.write( "{name},{x},{y},{alt},{heading},{pitch},{roll},{f},{px},{py},{k1},{k2},{k3},{k4},{t1},{t2}".format(name=str() )
					f.write("\n")
	f.close()

	# verify *at least* one ArUco marker was detected
	#OUTPUT IMAGE
	if len(corners) > 0:
		# flatten the ArUco IDs list
		ids = ids.flatten()
		# loop over the detected ArUCo corners
		for (markerCorner, markerID) in zip(corners, ids):
			# extract the marker corners (which are always returned in
			# top-left, top-right, bottom-right, and bottom-left order)
			corners = markerCorner.reshape((4, 2))
			(topLeft, topRight, bottomRight, bottomLeft) = corners
			# convert each of the (x, y)-coordinate pairs to integers
			topRight = (int(topRight[0]), int(topRight[1]))
			bottomRight = (int(bottomRight[0]), int(bottomRight[1]))
			bottomLeft = (int(bottomLeft[0]), int(bottomLeft[1]))
			topLeft = (int(topLeft[0]), int(topLeft[1]))


			# draw the bounding box of the ArUCo detection
			cv.line(image, topLeft, topRight, (0, 255, 0), 2)
			cv.line(image, topRight, bottomRight, (0, 255, 0), 2)
			cv.line(image, bottomRight, bottomLeft, (0, 255, 0), 2)
			cv.line(image, bottomLeft, topLeft, (0, 255, 0), 2)
			# compute and draw the center (x, y)-coordinates of the ArUco
			# marker
			cX = int((topLeft[0] + bottomRight[0]) / 2.0)
			cY = int((topLeft[1] + bottomRight[1]) / 2.0)
			cv.circle(image, (cX, cY), 4, (0, 0, 255), -1)
			# draw the ArUco marker ID on the image
			cv.putText(image, str(markerID),
				(topLeft[0], topLeft[1] - 15), cv.FONT_HERSHEY_SIMPLEX,
				0.5, (0, 255, 0), 2)
			print("[INFO] ArUco marker ID: {}".format(markerID))
			# show the output image
	cv.imwrite(os.path.join(r"A:\Controllerscan\coke\mov1\out", str(tail.split(".")[0]+".jpg")),image)
	# cv.imshow("Image", image)
	# cv.imwrite("detectionOutput.png",image)
	# cv.waitKey(0)


cameraData = open( os.path.join(r"A:\Controllerscan\coke\mov1", "internal_external.csv") , "r").read()
print(cameraData)

path = r"A:\Controllerscan\coke\mov1\seq"
wildcard = r"*.png"
completePath = os.path.join(path, wildcard)
print(completePath)

for image in glob.iglob(completePath):
	print(image)
	processimage(image,completePath,cameraData)