标签：column self 标定 相机 grid tk NSEW row 3D
这个小应用程序可以将一些常用的 opencv 标记，例如 ArUco、ArUcoGrid、Chessboard 和 ChArUco 保存到矢量图形文件中。支持的矢量图形文件格式：.svg、.pdf 和 .ps。（实测中，直接生成pdf文件错误，文件为空，但是可以先生成svg文件然后利用svg2pdf生成pdf文件即可，文末有实现）
1.依赖库
- numpy (pip install numpy)
- PIL (pip install pillow)
- cairo (pip install pycairo)
- cairosvg（用于svg转png或者pdf）(pip install cairosvg)
安装完上面以后还要安装GTK+ for Windows Runtime Environment Installer: 64-bit
https://gitcode.net/mirrors/tschoonj/GTK-for-Windows-Runtime-Environment-Installer/-/releases?spm=1033.2243.3001.5877
或者github地址https://github.com/tschoonj/GTK-for-Windows-Runtime-Environment-Installer/releases
2.教程
2.1 图形用户界面
python MarkerPrinterGUI.py
您可以在 GUI 选项卡中切换 ArUco、ArUcoGrid、Chessboard 和 ChArUco 模式，然后您可以从 GUI 菜单中选择字典并在 GUI 入口处修改棋盘形状、标记大小、边框宽度…等，最后单击预览或保存按钮以在 GUI 窗口上显示标记图像或将其保存到文件。
2.2 命令行
2.2.1打印帮助
python MarkerPrinter.py
2.2.2打印预定义字典列表
python MarkerPrinter.py --list_dictionary
2.2.3保存棋盘标定板
python MarkerPrinter.py --chess --file "./chess.pdf" --size_x 16 --size_y 9 --square_length 0.09
2.2.4保存ArUco标定板
python MarkerPrinter.py --aruco --file "./aruco.pdf" --dictionary DICT_ARUCO_ORIGINAL --marker_length 0.07 --marker_id 0 --border_bits 1
2.2.5保存 ArUco Grid标定板
python MarkerPrinter.py --aruco_grid --file "./aruco_grid.pdf" --dictionary DICT_ARUCO_ORIGINAL --size_x 16 --size_y 9 --marker_length 0.07 --marker_separation 0.02 --first_marker 0 --border_bits 1
2.2.5保存ChArUco标定板
python MarkerPrinter.py --charuco --file "./charuco.pdf" --dictionary DICT_ARUCO_ORIGINAL --size_x 16 --size_y 9 --square_length 0.09 --marker_length 0.07 --border_bits 1
2.3有用的选项
2.3.1将输出分成块
如果您使用的是消费级打印机，您将无法打印太大的标记，因此只需在将标记保存到文件之前在 GUI subSize 条目中设置块形状，它将输出标记分成块。如果您使用命令行界面，只需添加 --sub_size_x x --sub_size_y y 作为参数。
2.3.2页面边框
如果直接打印图像，则需要添加页面边框以保护标记，因此只需在将标记保存到文件之前在 GUI pageBorder 条目中设置页面边框。如果您使用命令行界面，只需添加 --page_border_x x --page_border_y y 作为参数。
2.3.3生成 aruco 数据
虽然有内置的 aruco 字典数据，但是如果要更新字典（如果 aruco 更新预定义的字典列表），只需安装 opencv-python 和 opencv-contrib-python，然后运行
python MarkerPrinter.py --generate arucoDictBytesList.npz
3 代码地址
https://github.com/opencv/opencv_contrib/tree/4.x/modules/aruco/misc/pattern_generator
3.1代码一
# MarkerPrinterGUI.py
#!/usr/bin/env python3
# SPDX-License-Identifier: BSD-3-Clause
#
# Copyright (c) 2019, Josh Chien. All rights reserved.
from MarkerPrinter import *
import tkinter as tk
from tkinter import ttk, filedialog, messagebox
import time
import PIL.Image
import PIL.ImageTk
class MarkerPrinterGUI:
def VisDPI(self, shape):
scale0 = float(self.displayShape[0]) / float(shape[0])
scale1 = float(self.displayShape[1]) / float(shape[1])
if(scale0 > scale1):
return scale1 * 96.0
else:
return scale0 * 96.0
def OnShowingHelpGithub(self):
messagebox.showinfo("Github",
"https://github.com/dogod621/OpenCVMarkerPrinter")
def OnCloseWindow(self):
if(self.window is not None):
if messagebox.askokcancel("Quit", "Do you want to quit?"):
self.window.destroy()
self.window = None
def OnSelectCharucoMarkerDictionary(self, pDictName):
self.charucoMarkerDictionaryStr.set(pDictName)
def __SaveMarker(GenMarkerImageCallback, *args, **kwargs):
if(kwargs.get("subSize",None) is not None):
subSizeX, subSizeY = kwargs["subSize"]
kwargs["subSize"] = None
if(subSizeX > 0):
if(subSizeY > 0):
kwargs["subSize"] = (subSizeX, subSizeY)
else:
kwargs["subSize"] = (subSizeX, sizeY)
else:
if(subSizeY > 0):
kwargs["subSize"] = (sizeX, subSizeY)
else:
kwargs["subSize"] = None
try:
askFileName = filedialog.asksaveasfilename(initialdir = os.path.abspath("./"), title = "Output", filetypes = (\
("scalable vector graphics files","*.svg"), \
("portable document format files","*.pdf"), \
("post script files","*.ps")),
defaultextension="*.*")
if (askFileName):
GenMarkerImageCallback(askFileName, *args, **kwargs)
except Exception as e:
warnings.warn(str(e))
messagebox.showinfo("Error", "Save marker failed")
return
def OnPreviewOrSaveCharucoMarker(self, askSave = False):
try:
sizeX = int(self.charucoMarkerChessboardSizeXStr.get())
sizeY = int(self.charucoMarkerChessboardSizeYStr.get())
squareLength = float(self.charucoMarkerSquareLengthStr.get())
markerLength = float(self.charucoMarkerMarkerLengthStr.get())
borderBits = int(self.charucoMarkerBorderBitsStr.get())
dictionary = self.charucoMarkerDictionaryStr.get()
subSizeX = int(self.charucoMarkerSaveSubSizeXStr.get())
subSizeY = int(self.charucoMarkerSaveSubSizeYStr.get())
pageBorderX = float(self.charucoMarkerSavePageBorderXStr.get())
pageBorderY = float(self.charucoMarkerSavePageBorderYStr.get())
except ValueError as e:
warnings.warn(str(e))
messagebox.showinfo("Error", "Enter invalid parameters")
return
except Exception as e:
warnings.warn(str(e))
messagebox.showinfo("Error", "Fail to get parameters")
return
# Preview
try:
dpi = self.VisDPI(((sizeY * squareLength + pageBorderY * 2) * MarkerPrinter.ptPerMeter, (sizeX * squareLength + pageBorderX * 2) * MarkerPrinter.ptPerMeter))
tkImage = PIL.ImageTk.PhotoImage(image = MarkerPrinter.PreviewCharucoMarkerImage(dictionary, (sizeX, sizeY), squareLength, markerLength, borderBits=borderBits, pageBorder = (pageBorderX, pageBorderY), dpi=dpi))
self.charucoMarkerImageLabel.imgtk = tkImage
self.charucoMarkerImageLabel.config(image=tkImage)
except Exception as e:
warnings.warn(str(e))
messagebox.showinfo("Error", "create marker failed")
return
# Save
if(askSave):
MarkerPrinterGUI.__SaveMarker(MarkerPrinter.GenCharucoMarkerImage, \
dictionary, (sizeX, sizeY), squareLength, markerLength, borderBits=borderBits, subSize = (subSizeX, subSizeY), pageBorder = (pageBorderX, pageBorderY))
def OnPreviewCharucoMarker(self):
self.OnPreviewOrSaveCharucoMarker(askSave = False)
def OnSaveCharucoMarker(self):
self.OnPreviewOrSaveCharucoMarker(askSave = True)
def InitCharucoMarkerTab(self):
self.charucoMarkerUIFrame = ttk.Frame(self.charucoMarkerTab)
self.charucoMarkerImageTab = ttk.Frame(self.charucoMarkerTab)
self.charucoMarkerUIFrame2 = ttk.Frame(self.charucoMarkerTab)
self.charucoMarkerUIFrame.grid(row=0, column=0, sticky = tk.NSEW)
self.charucoMarkerImageTab.grid(row=1, column=0, sticky = tk.NSEW)
self.charucoMarkerUIFrame2.grid(row=2, column=0, sticky = tk.NSEW)
self.charucoMarkerImageLabel = tk.Label(self.charucoMarkerImageTab)
self.charucoMarkerImageLabel.grid(row=0, column=0, sticky = tk.NSEW)
tk.Label(self.charucoMarkerUIFrame, text="dictionary").grid(row=0, column=0, sticky = tk.NSEW)
tk.Label(self.charucoMarkerUIFrame, text="chessboardSizeX").grid(row=0, column=1, sticky = tk.NSEW)
tk.Label(self.charucoMarkerUIFrame, text="chessboardSizeY").grid(row=0, column=2, sticky = tk.NSEW)
tk.Label(self.charucoMarkerUIFrame, text="squareLength (Unit: Meter)").grid(row=0, column=3, sticky = tk.NSEW)
tk.Label(self.charucoMarkerUIFrame, text="markerLength (Unit: Meter)").grid(row=0, column=4, sticky = tk.NSEW)
tk.Label(self.charucoMarkerUIFrame, text="borderBits").grid(row=0, column=5, sticky = tk.NSEW)
self.charucoMarkerDictionaryStr = tk.StringVar()
self.charucoMarkerChessboardSizeXStr = tk.StringVar()
self.charucoMarkerChessboardSizeXStr.set("16")
self.charucoMarkerChessboardSizeYStr = tk.StringVar()
self.charucoMarkerChessboardSizeYStr.set("9")
self.charucoMarkerSquareLengthStr = tk.StringVar()
self.charucoMarkerSquareLengthStr.set("0.09")
self.charucoMarkerMarkerLengthStr = tk.StringVar()
self.charucoMarkerMarkerLengthStr.set("0.07")
self.charucoMarkerBorderBitsStr = tk.StringVar()
self.charucoMarkerBorderBitsStr.set("1")
self.charucoMarkerDictionaryMenue = tk.OptionMenu(self.charucoMarkerUIFrame, self.charucoMarkerDictionaryStr, "DICT_ARUCO_ORIGINAL", command = self.OnSelectCharucoMarkerDictionary)
self.charucoMarkerDictionaryMenue.grid(row=1, column=0, sticky = tk.NSEW)
tk.Entry(self.charucoMarkerUIFrame, textvariable=self.charucoMarkerChessboardSizeXStr).grid(row=1, column=1, sticky = tk.NSEW)
tk.Entry(self.charucoMarkerUIFrame, textvariable=self.charucoMarkerChessboardSizeYStr).grid(row=1, column=2, sticky = tk.NSEW)
tk.Entry(self.charucoMarkerUIFrame, textvariable=self.charucoMarkerSquareLengthStr).grid(row=1, column=3, sticky = tk.NSEW)
tk.Entry(self.charucoMarkerUIFrame, textvariable=self.charucoMarkerMarkerLengthStr).grid(row=1, column=4, sticky = tk.NSEW)
tk.Entry(self.charucoMarkerUIFrame, textvariable=self.charucoMarkerBorderBitsStr).grid(row=1, column=5, sticky = tk.NSEW)
tk.Button(self.charucoMarkerUIFrame2, text = "Preview", command = self.OnPreviewCharucoMarker).grid(row=1, column=0, sticky = tk.NSEW)
tk.Button(self.charucoMarkerUIFrame2, text = "Save", command = self.OnSaveCharucoMarker).grid(row=1, column=1, sticky = tk.NSEW)
tk.Label(self.charucoMarkerUIFrame2, text="Save options:").grid(row=0, column=2, sticky = tk.NSEW)
tk.Label(self.charucoMarkerUIFrame2, text="(set 0 as disable)").grid(row=1, column=2, sticky = tk.NSEW)
tk.Label(self.charucoMarkerUIFrame2, text="subSizeX").grid(row=0, column=3, sticky = tk.NSEW)
tk.Label(self.charucoMarkerUIFrame2, text="subSizeY").grid(row=0, column=4, sticky = tk.NSEW)
tk.Label(self.charucoMarkerUIFrame2, text="Divide to chunks, chunk sizeX").grid(row=2, column=3, sticky = tk.NSEW)
tk.Label(self.charucoMarkerUIFrame2, text="Divide to chunks, chunk sizeY").grid(row=2, column=4, sticky = tk.NSEW)
tk.Label(self.charucoMarkerUIFrame2, text="pageBorderX (Unit: Meter)").grid(row=0, column=5, sticky = tk.NSEW)
tk.Label(self.charucoMarkerUIFrame2, text="pageBorderY (Unit: Meter)").grid(row=0, column=6, sticky = tk.NSEW)
tk.Label(self.charucoMarkerUIFrame2, text="Border or page").grid(row=2, column=5, sticky = tk.NSEW)
tk.Label(self.charucoMarkerUIFrame2, text="Border or page").grid(row=2, column=6, sticky = tk.NSEW)
self.charucoMarkerSaveSubSizeXStr = tk.StringVar()
self.charucoMarkerSaveSubSizeXStr.set("0")
self.charucoMarkerSaveSubSizeYStr = tk.StringVar()
self.charucoMarkerSaveSubSizeYStr.set("0")
self.charucoMarkerSavePageBorderXStr = tk.StringVar()
self.charucoMarkerSavePageBorderXStr.set("0.02")
self.charucoMarkerSavePageBorderYStr = tk.StringVar()
self.charucoMarkerSavePageBorderYStr.set("0.02")
tk.Entry(self.charucoMarkerUIFrame2, textvariable=self.charucoMarkerSaveSubSizeXStr).grid(row=1, column=3, sticky = tk.NSEW)
tk.Entry(self.charucoMarkerUIFrame2, textvariable=self.charucoMarkerSaveSubSizeYStr).grid(row=1, column=4, sticky = tk.NSEW)
tk.Entry(self.charucoMarkerUIFrame2, textvariable=self.charucoMarkerSavePageBorderXStr).grid(row=1, column=5, sticky = tk.NSEW)
tk.Entry(self.charucoMarkerUIFrame2, textvariable=self.charucoMarkerSavePageBorderYStr).grid(row=1, column=6, sticky = tk.NSEW)
self.charucoMarkerDictionaryMenue['menu'].delete(0, 'end')
for dictName in self.dictList:
self.charucoMarkerDictionaryMenue['menu'].add_command(label=dictName, command=tk._setit(self.charucoMarkerDictionaryStr, dictName, self.OnSelectCharucoMarkerDictionary))
self.OnSelectCharucoMarkerDictionary("DICT_ARUCO_ORIGINAL")
def OnSelectArucoGridMarkerDictionary(self, pDictName):
self.arucoGridMarkerDictionaryStr.set(pDictName)
def OnPreviewOrSaveArucoGridMarker(self, askSave = False):
try:
markersX = int(self.arucoGridMarkerMarkersXStr.get())
markersY = int(self.arucoGridMarkerMarkersYStr.get())
markerLength = float(self.arucoGridMarkerMarkerLengthStr.get())
markerSeparation = float(self.arucoGridMarkerMarkerSeparationStr.get())
borderBits = int(self.arucoGridMarkerBorderBitsStr.get())
firstMarker = int(self.arucoGridMarkerFirstMarkerStr.get())
dictionary = self.arucoGridMarkerDictionaryStr.get()
subSizeX = int(self.arucoGridMarkerSaveSubSizeXStr.get())
subSizeY = int(self.arucoGridMarkerSaveSubSizeYStr.get())
pageBorderX = float(self.arucoGridMarkerSavePageBorderXStr.get())
pageBorderY = float(self.arucoGridMarkerSavePageBorderYStr.get())
except ValueError as e:
warnings.warn(str(e))
messagebox.showinfo("Error", "Enter invalid parameters")
return
except Exception as e:
warnings.warn(str(e))
messagebox.showinfo("Error", "Fail to get parameters")
return
# Preview
try:
dpi=self.VisDPI(((markersY * markerLength + (markersY - 1) * markerSeparation + pageBorderY * 2) * MarkerPrinter.ptPerMeter, (markersX * markerLength + (markersX - 1) * markerSeparation + pageBorderX * 2) * MarkerPrinter.ptPerMeter))
tkImage = PIL.ImageTk.PhotoImage(image = MarkerPrinter.PreviewArucoGridMarkerImage(dictionary, (markersX, markersY), markerLength, markerSeparation, firstMarker, borderBits=borderBits, pageBorder = (pageBorderX, pageBorderY), dpi=dpi))
self.arucoGridMarkerImageLabel.imgtk = tkImage
self.arucoGridMarkerImageLabel.config(image=tkImage)
except Exception as e:
warnings.warn(str(e))
messagebox.showinfo("Error", "create marker failed")
return
# Save
if(askSave):
MarkerPrinterGUI.__SaveMarker(MarkerPrinter.GenArucoGridMarkerImage, \
dictionary, (markersX, markersY), markerLength, markerSeparation, firstMarker, borderBits=borderBits, subSize = (subSizeX, subSizeY), pageBorder = (pageBorderX, pageBorderY))
def OnPreviewArucoGridMarker(self):
self.OnPreviewOrSaveArucoGridMarker(askSave = False)
def OnSaveArucoGridMarker(self):
self.OnPreviewOrSaveArucoGridMarker(askSave = True)
def InitArucoGridMarkerTab(self):
self.arucoGridMarkerUIFrame = ttk.Frame(self.arucoGridMarkerTab)
self.arucoGridMarkerImageTab = ttk.Frame(self.arucoGridMarkerTab)
self.arucoGridMarkerUIFrame2 = ttk.Frame(self.arucoGridMarkerTab)
self.arucoGridMarkerUIFrame.grid(row=0, column=0, sticky = tk.NSEW)
self.arucoGridMarkerImageTab.grid(row=1, column=0, sticky = tk.NSEW)
self.arucoGridMarkerUIFrame2.grid(row=2, column=0, sticky = tk.NSEW)
self.arucoGridMarkerImageLabel = tk.Label(self.arucoGridMarkerImageTab)
self.arucoGridMarkerImageLabel.grid(row=0, column=0, sticky = tk.NSEW)
tk.Label(self.arucoGridMarkerUIFrame, text="dictionary").grid(row=0, column=0, sticky = tk.NSEW)
tk.Label(self.arucoGridMarkerUIFrame, text="markersX").grid(row=0, column=1, sticky = tk.NSEW)
tk.Label(self.arucoGridMarkerUIFrame, text="markersY").grid(row=0, column=2, sticky = tk.NSEW)
tk.Label(self.arucoGridMarkerUIFrame, text="markerLength (Unit: Meter)").grid(row=0, column=3, sticky = tk.NSEW)
tk.Label(self.arucoGridMarkerUIFrame, text="markerSeparation (Unit: Meter)").grid(row=0, column=4, sticky = tk.NSEW)
tk.Label(self.arucoGridMarkerUIFrame, text="firstMarker").grid(row=0, column=5, sticky = tk.NSEW)
tk.Label(self.arucoGridMarkerUIFrame, text="borderBits").grid(row=0, column=6, sticky = tk.NSEW)
self.arucoGridMarkerDictionaryStr = tk.StringVar()
self.arucoGridMarkerMarkersXStr = tk.StringVar()
self.arucoGridMarkerMarkersXStr.set("16")
self.arucoGridMarkerMarkersYStr = tk.StringVar()
self.arucoGridMarkerMarkersYStr.set("9")
self.arucoGridMarkerMarkerLengthStr = tk.StringVar()
self.arucoGridMarkerMarkerLengthStr.set("0.07")
self.arucoGridMarkerMarkerSeparationStr = tk.StringVar()
self.arucoGridMarkerMarkerSeparationStr.set("0.02")
self.arucoGridMarkerFirstMarkerStr = tk.StringVar()
self.arucoGridMarkerFirstMarkerStr.set("0")
self.arucoGridMarkerBorderBitsStr = tk.StringVar()
self.arucoGridMarkerBorderBitsStr.set("1")
self.arucoGridMarkerDictionaryMenue = tk.OptionMenu(self.arucoGridMarkerUIFrame, self.arucoGridMarkerDictionaryStr, "DICT_ARUCO_ORIGINAL", command = self.OnSelectArucoGridMarkerDictionary)
self.arucoGridMarkerDictionaryMenue.grid(row=1, column=0, sticky = tk.NSEW)
tk.Entry(self.arucoGridMarkerUIFrame, textvariable=self.arucoGridMarkerMarkersXStr).grid(row=1, column=1, sticky = tk.NSEW)
tk.Entry(self.arucoGridMarkerUIFrame, textvariable=self.arucoGridMarkerMarkersYStr).grid(row=1, column=2, sticky = tk.NSEW)
tk.Entry(self.arucoGridMarkerUIFrame, textvariable=self.arucoGridMarkerMarkerLengthStr).grid(row=1, column=3, sticky = tk.NSEW)
tk.Entry(self.arucoGridMarkerUIFrame, textvariable=self.arucoGridMarkerMarkerSeparationStr).grid(row=1, column=4, sticky = tk.NSEW)
tk.Entry(self.arucoGridMarkerUIFrame, textvariable=self.arucoGridMarkerFirstMarkerStr).grid(row=1, column=5, sticky = tk.NSEW)
tk.Entry(self.arucoGridMarkerUIFrame, textvariable=self.arucoGridMarkerBorderBitsStr).grid(row=1, column=6, sticky = tk.NSEW)
tk.Button(self.arucoGridMarkerUIFrame2, text = "Preview", command = self.OnPreviewArucoGridMarker).grid(row=1, column=0, sticky = tk.NSEW)
tk.Button(self.arucoGridMarkerUIFrame2, text = "Save", command = self.OnSaveArucoGridMarker).grid(row=1, column=1, sticky = tk.NSEW)
tk.Label(self.arucoGridMarkerUIFrame2, text="Save options:").grid(row=0, column=2, sticky = tk.NSEW)
tk.Label(self.arucoGridMarkerUIFrame2, text="(set 0 as disable)").grid(row=1, column=2, sticky = tk.NSEW)
tk.Label(self.arucoGridMarkerUIFrame2, text="subSizeX").grid(row=0, column=3, sticky = tk.NSEW)
tk.Label(self.arucoGridMarkerUIFrame2, text="subSizeY").grid(row=0, column=4, sticky = tk.NSEW)
tk.Label(self.arucoGridMarkerUIFrame2, text="Divide to chunks, chunk sizeX").grid(row=2, column=3, sticky = tk.NSEW)
tk.Label(self.arucoGridMarkerUIFrame2, text="Divide to chunks, chunk sizeY").grid(row=2, column=4, sticky = tk.NSEW)
tk.Label(self.arucoGridMarkerUIFrame2, text="pageBorderX (Unit: Meter)").grid(row=0, column=5, sticky = tk.NSEW)
tk.Label(self.arucoGridMarkerUIFrame2, text="pageBorderY (Unit: Meter)").grid(row=0, column=6, sticky = tk.NSEW)
tk.Label(self.arucoGridMarkerUIFrame2, text="Border or page").grid(row=2, column=5, sticky = tk.NSEW)
tk.Label(self.arucoGridMarkerUIFrame2, text="Border or page").grid(row=2, column=6, sticky = tk.NSEW)
self.arucoGridMarkerSaveSubSizeXStr = tk.StringVar()
self.arucoGridMarkerSaveSubSizeXStr.set("0")
self.arucoGridMarkerSaveSubSizeYStr = tk.StringVar()
self.arucoGridMarkerSaveSubSizeYStr.set("0")
self.arucoGridMarkerSavePageBorderXStr = tk.StringVar()
self.arucoGridMarkerSavePageBorderXStr.set("0.02")
self.arucoGridMarkerSavePageBorderYStr = tk.StringVar()
self.arucoGridMarkerSavePageBorderYStr.set("0.02")
tk.Entry(self.arucoGridMarkerUIFrame2, textvariable=self.arucoGridMarkerSaveSubSizeXStr).grid(row=1, column=3, sticky = tk.NSEW)
tk.Entry(self.arucoGridMarkerUIFrame2, textvariable=self.arucoGridMarkerSaveSubSizeYStr).grid(row=1, column=4, sticky = tk.NSEW)
tk.Entry(self.arucoGridMarkerUIFrame2, textvariable=self.arucoGridMarkerSavePageBorderXStr).grid(row=1, column=5, sticky = tk.NSEW)
tk.Entry(self.arucoGridMarkerUIFrame2, textvariable=self.arucoGridMarkerSavePageBorderYStr).grid(row=1, column=6, sticky = tk.NSEW)
self.arucoGridMarkerDictionaryMenue['menu'].delete(0, 'end')
for dictName in self.dictList:
self.arucoGridMarkerDictionaryMenue['menu'].add_command(label=dictName, command=tk._setit(self.arucoGridMarkerDictionaryStr, dictName, self.OnSelectArucoGridMarkerDictionary))
self.OnSelectArucoGridMarkerDictionary("DICT_ARUCO_ORIGINAL")
def OnSelectArucoMarkerDictionary(self, pDictName):
self.arucoMarkerDictionaryStr.set(pDictName)
def OnPreviewOrSaveArucoMarker(self, askSave = False):
try:
markerID = int(self.arucoMarkerMarkerIDStr.get())
markerLength = float(self.arucoMarkerMarkerLengthStr.get())
borderBits = int(self.arucoMarkerBorderBitsStr.get())
dictionary = self.arucoMarkerDictionaryStr.get()
pageBorderX = float(self.arucoMarkerSavePageBorderXStr.get())
pageBorderY = float(self.arucoMarkerSavePageBorderYStr.get())
except ValueError as e:
warnings.warn(str(e))
messagebox.showinfo("Error", "Enter invalid parameters")
return
except Exception as e:
warnings.warn(str(e))
messagebox.showinfo("Error", "Fail to get parameters")
return
# Preview
try:
dpi=self.VisDPI(((markerLength + pageBorderY * 2) * MarkerPrinter.ptPerMeter, (markerLength + pageBorderX * 2) * MarkerPrinter.ptPerMeter))
tkImage = PIL.ImageTk.PhotoImage(image = MarkerPrinter.PreviewArucoMarkerImage(dictionary, markerID, markerLength, borderBits=borderBits, pageBorder = (pageBorderX, pageBorderY), dpi=dpi))
self.arucoMarkerImageLabel.imgtk = tkImage
self.arucoMarkerImageLabel.config(image=tkImage)
except Exception as e:
warnings.warn(str(e))
messagebox.showinfo("Error", "create marker failed")
return
# Save
if(askSave):
MarkerPrinterGUI.__SaveMarker(MarkerPrinter.GenArucoMarkerImage, \
dictionary, markerID, markerLength, borderBits=borderBits, pageBorder = (pageBorderX, pageBorderY))
def OnPreviewArucoMarker(self):
self.OnPreviewOrSaveArucoMarker(askSave = False)
def OnSaveArucoMarker(self):
self.OnPreviewOrSaveArucoMarker(askSave = True)
def InitArucoMarkerTab(self):
self.arucoMarkerUIFrame = ttk.Frame(self.arucoMarkerTab)
self.arucoMarkerImageTab = ttk.Frame(self.arucoMarkerTab)
self.arucoMarkerUIFrame2 = ttk.Frame(self.arucoMarkerTab)
self.arucoMarkerUIFrame.grid(row=0, column=0, sticky = tk.NSEW)
self.arucoMarkerImageTab.grid(row=1, column=0, sticky = tk.NSEW)
self.arucoMarkerUIFrame2.grid(row=2, column=0, sticky = tk.NSEW)
self.arucoMarkerImageLabel = tk.Label(self.arucoMarkerImageTab)
self.arucoMarkerImageLabel.grid(row=0, column=0, sticky = tk.NSEW)
tk.Label(self.arucoMarkerUIFrame, text="dictionary").grid(row=0, column=0, sticky = tk.NSEW)
tk.Label(self.arucoMarkerUIFrame, text="markerID").grid(row=0, column=1, sticky = tk.NSEW)
tk.Label(self.arucoMarkerUIFrame, text="markerLength (Unit: Meter)").grid(row=0, column=2, sticky = tk.NSEW)
tk.Label(self.arucoMarkerUIFrame, text="borderBits").grid(row=0, column=3, sticky = tk.NSEW)
self.arucoMarkerDictionaryStr = tk.StringVar()
self.arucoMarkerMarkerIDStr = tk.StringVar()
self.arucoMarkerMarkerIDStr.set("0")
self.arucoMarkerMarkerLengthStr = tk.StringVar()
self.arucoMarkerMarkerLengthStr.set("0.07")
self.arucoMarkerBorderBitsStr = tk.StringVar()
self.arucoMarkerBorderBitsStr.set("1")
self.arucoMarkerDictionaryMenue = tk.OptionMenu(self.arucoMarkerUIFrame, self.arucoMarkerDictionaryStr, "DICT_ARUCO_ORIGINAL", command = self.OnSelectArucoMarkerDictionary)
self.arucoMarkerDictionaryMenue.grid(row=1, column=0, sticky = tk.NSEW)
tk.Entry(self.arucoMarkerUIFrame, textvariable=self.arucoMarkerMarkerIDStr).grid(row=1, column=1, sticky = tk.NSEW)
tk.Entry(self.arucoMarkerUIFrame, textvariable=self.arucoMarkerMarkerLengthStr).grid(row=1, column=2, sticky = tk.NSEW)
tk.Entry(self.arucoMarkerUIFrame, textvariable=self.arucoMarkerBorderBitsStr).grid(row=1, column=3, sticky = tk.NSEW)
tk.Button(self.arucoMarkerUIFrame2, text = "Preview", command = self.OnPreviewArucoMarker).grid(row=0, column=0, sticky = tk.NSEW)
tk.Button(self.arucoMarkerUIFrame2, text = "Save", command = self.OnSaveArucoMarker).grid(row=0, column=1, sticky = tk.NSEW)
tk.Label(self.arucoMarkerUIFrame2, text="Save options:").grid(row=0, column=2, sticky = tk.NSEW)
tk.Label(self.arucoMarkerUIFrame2, text="(set 0 as disable)").grid(row=1, column=2, sticky = tk.NSEW)
tk.Label(self.arucoMarkerUIFrame2, text="pageBorderX (Unit: Meter)").grid(row=0, column=3, sticky = tk.NSEW)
tk.Label(self.arucoMarkerUIFrame2, text="pageBorderY (Unit: Meter)").grid(row=0, column=4, sticky = tk.NSEW)
tk.Label(self.arucoMarkerUIFrame2, text="Border or page").grid(row=2, column=3, sticky = tk.NSEW)
tk.Label(self.arucoMarkerUIFrame2, text="Border or page").grid(row=2, column=4, sticky = tk.NSEW)
self.arucoMarkerSavePageBorderXStr = tk.StringVar()
self.arucoMarkerSavePageBorderXStr.set("0.02")
self.arucoMarkerSavePageBorderYStr = tk.StringVar()
self.arucoMarkerSavePageBorderYStr.set("0.02")
tk.Entry(self.arucoMarkerUIFrame2, textvariable=self.arucoMarkerSavePageBorderXStr).grid(row=1, column=3, sticky = tk.NSEW)
tk.Entry(self.arucoMarkerUIFrame2, textvariable=self.arucoMarkerSavePageBorderYStr).grid(row=1, column=4, sticky = tk.NSEW)
self.arucoMarkerDictionaryMenue['menu'].delete(0, 'end')
for dictName in self.dictList:
self.arucoMarkerDictionaryMenue['menu'].add_command(label=dictName, command=tk._setit(self.arucoMarkerDictionaryStr, dictName, self.OnSelectArucoMarkerDictionary))
self.OnSelectArucoMarkerDictionary("DICT_ARUCO_ORIGINAL")
def OnPreviewOrSaveChessMarker(self, askSave = False):
try:
sizeX = int(self.chessMarkerChessboardSizeXStr.get())
sizeY = int(self.chessMarkerChessboardSizeYStr.get())
squareLength = float(self.chessMarkerSquareLengthStr.get())
subSizeX = int(self.chessMarkerSaveSubSizeXStr.get())
subSizeY = int(self.chessMarkerSaveSubSizeYStr.get())
pageBorderX = float(self.chessMarkerSavePageBorderXStr.get())
pageBorderY = float(self.chessMarkerSavePageBorderYStr.get())
except ValueError as e:
warnings.warn(str(e))
messagebox.showinfo("Error", "Enter invalid parameters")
return
except Exception as e:
warnings.warn(str(e))
messagebox.showinfo("Error", "Fail to get parameters")
return
# Preview
try:
dpi=self.VisDPI(((sizeY * squareLength + pageBorderY * 2) * MarkerPrinter.ptPerMeter, (sizeX * squareLength + pageBorderX * 2) * MarkerPrinter.ptPerMeter))
tkImage = PIL.ImageTk.PhotoImage(image = MarkerPrinter.PreviewChessMarkerImage((sizeX, sizeY), squareLength, pageBorder = (pageBorderX, pageBorderY), dpi=dpi))
self.chessMarkerImageLabel.imgtk = tkImage
self.chessMarkerImageLabel.config(image=tkImage)
except Exception as e:
warnings.warn(str(e))
messagebox.showinfo("Error", "create marker failed")
return
# Save
if(askSave):
MarkerPrinterGUI.__SaveMarker(MarkerPrinter.GenChessMarkerImage, \
(sizeX, sizeY), squareLength, subSize = (subSizeX, subSizeY), pageBorder = (pageBorderX, pageBorderY))
def OnPreviewChessMarker(self):
self.OnPreviewOrSaveChessMarker(askSave = False)
def OnSaveChessMarker(self):
self.OnPreviewOrSaveChessMarker(askSave = True)
def InitChessMarkerTab(self):
self.chessMarkerUIFrame = ttk.Frame(self.chessMarkerTab)
self.chessMarkerImageTab = ttk.Frame(self.chessMarkerTab)
self.chessMarkerUIFrame2 = ttk.Frame(self.chessMarkerTab)
self.chessMarkerUIFrame.grid(row=0, column=0, sticky = tk.NSEW)
self.chessMarkerImageTab.grid(row=1, column=0, sticky = tk.NSEW)
self.chessMarkerUIFrame2.grid(row=2, column=0, sticky = tk.NSEW)
self.chessMarkerImageLabel = tk.Label(self.chessMarkerImageTab)
self.chessMarkerImageLabel.grid(row=0, column=0, sticky = tk.NSEW)
tk.Label(self.chessMarkerUIFrame, text="chessboardSizeX").grid(row=0, column=0, sticky = tk.NSEW)
tk.Label(self.chessMarkerUIFrame, text="chessboardSizeY").grid(row=0, column=1, sticky = tk.NSEW)
tk.Label(self.chessMarkerUIFrame, text="squareLength (Unit: Meter)").grid(row=0, column=2, sticky = tk.NSEW)
self.chessMarkerChessboardSizeXStr = tk.StringVar()
self.chessMarkerChessboardSizeXStr.set("16")
self.chessMarkerChessboardSizeYStr = tk.StringVar()
self.chessMarkerChessboardSizeYStr.set("9")
self.chessMarkerSquareLengthStr = tk.StringVar()
self.chessMarkerSquareLengthStr.set("0.09")
tk.Entry(self.chessMarkerUIFrame, textvariable=self.chessMarkerChessboardSizeXStr).grid(row=1, column=0, sticky = tk.NSEW)
tk.Entry(self.chessMarkerUIFrame, textvariable=self.chessMarkerChessboardSizeYStr).grid(row=1, column=1, sticky = tk.NSEW)
tk.Entry(self.chessMarkerUIFrame, textvariable=self.chessMarkerSquareLengthStr).grid(row=1, column=2, sticky = tk.NSEW)
tk.Button(self.chessMarkerUIFrame2, text = "Preview", command = self.OnPreviewChessMarker).grid(row=1, column=0, sticky = tk.NSEW)
tk.Button(self.chessMarkerUIFrame2, text = "Save", command = self.OnSaveChessMarker).grid(row=1, column=1, sticky = tk.NSEW)
tk.Label(self.chessMarkerUIFrame2, text="Save options:").grid(row=0, column=2, sticky = tk.NSEW)
tk.Label(self.chessMarkerUIFrame2, text="(set 0 as disable)").grid(row=1, column=2, sticky = tk.NSEW)
tk.Label(self.chessMarkerUIFrame2, text="subSizeX").grid(row=0, column=3, sticky = tk.NSEW)
tk.Label(self.chessMarkerUIFrame2, text="subSizeY").grid(row=0, column=4, sticky = tk.NSEW)
tk.Label(self.chessMarkerUIFrame2, text="Divide to chunks, chunk sizeX").grid(row=2, column=3, sticky = tk.NSEW)
tk.Label(self.chessMarkerUIFrame2, text="Divide to chunks, chunk sizeY").grid(row=2, column=4, sticky = tk.NSEW)
tk.Label(self.chessMarkerUIFrame2, text="pageBorderX (Unit: Meter)").grid(row=0, column=5, sticky = tk.NSEW)
tk.Label(self.chessMarkerUIFrame2, text="pageBorderY (Unit: Meter)").grid(row=0, column=6, sticky = tk.NSEW)
tk.Label(self.chessMarkerUIFrame2, text="Border or page").grid(row=2, column=5, sticky = tk.NSEW)
tk.Label(self.chessMarkerUIFrame2, text="Border or page").grid(row=2, column=6, sticky = tk.NSEW)
self.chessMarkerSaveSubSizeXStr = tk.StringVar()
self.chessMarkerSaveSubSizeXStr.set("0")
self.chessMarkerSaveSubSizeYStr = tk.StringVar()
self.chessMarkerSaveSubSizeYStr.set("0")
self.chessMarkerSavePageBorderXStr = tk.StringVar()
self.chessMarkerSavePageBorderXStr.set("0.02")
self.chessMarkerSavePageBorderYStr = tk.StringVar()
self.chessMarkerSavePageBorderYStr.set("0.02")
tk.Entry(self.chessMarkerUIFrame2, textvariable=self.chessMarkerSaveSubSizeXStr).grid(row=1, column=3, sticky = tk.NSEW)
tk.Entry(self.chessMarkerUIFrame2, textvariable=self.chessMarkerSaveSubSizeYStr).grid(row=1, column=4, sticky = tk.NSEW)
tk.Entry(self.chessMarkerUIFrame2, textvariable=self.chessMarkerSavePageBorderXStr).grid(row=1, column=5, sticky = tk.NSEW)
tk.Entry(self.chessMarkerUIFrame2, textvariable=self.chessMarkerSavePageBorderYStr).grid(row=1, column=6, sticky = tk.NSEW)
def Update(self):
time.sleep(0)
self.window.after(self.delay, self.Update)
def __init__(self, pDelay=15, pDisplayShape=(int(400), int(1200))):
self.delay = pDelay
self.displayShape = pDisplayShape
self.dictList = MarkerPrinter.arucoDictBytesList.keys()
# GUI
self.window = tk.Tk()
self.notebook = ttk.Notebook(self.window)
self.notebook.grid(row=0, column=0, sticky = tk.NSEW)
self.window.title("MarkerPrinterGUI")
self.window.config(cursor="arrow")
self.window.protocol("WM_DELETE_WINDOW", self.OnCloseWindow)
# Menues
self.menu = tk.Menu(self.window)
self.helpMenu = tk.Menu(self.menu, tearoff=0)
self.menu.add_cascade(label="Help", menu=self.helpMenu)
self.helpMenu.add_command(label="Github", command=self.OnShowingHelpGithub)
self.helpMenu.add_command(label="DEBUG_LINE_MODE", command=self.On_DEBUG_LINE_MODE)
self.helpMenu.add_command(label="DEBUG_BLOCK_MODE", command=self.On_DEBUG_BLOCK_MODE)
self.helpMenu.add_command(label="CLOSE_DEBUG_MODE", command=self.On_CLOSE_DEBUG_MODE)
self.window.config(menu=self.menu)
self.charucoMarkerTab = ttk.Frame(self.notebook)
self.arucoMarkerTab = ttk.Frame(self.notebook)
self.arucoGridMarkerTab = ttk.Frame(self.notebook)
self.chessMarkerTab = ttk.Frame(self.notebook)
self.notebook.add(self.charucoMarkerTab, text='ChArUco Marker')
self.notebook.add(self.arucoMarkerTab, text='ArUco Marker')
self.notebook.add(self.arucoGridMarkerTab, text='ArUcoGrid Marker')
self.notebook.add(self.chessMarkerTab, text='Chessboard Marker')
self.InitCharucoMarkerTab()
self.InitArucoMarkerTab()
self.InitArucoGridMarkerTab()
self.InitChessMarkerTab()
self.Update()
self.window.mainloop()
def On_DEBUG_LINE_MODE(self):
messagebox.showinfo("Note", "You enabled the debug mode: \"LINE\"")
MarkerPrinter.debugMode = "LINE"
def On_DEBUG_BLOCK_MODE(self):
messagebox.showinfo("Note", "You enabled the debug mode: \"BLOCK\"")
MarkerPrinter.debugMode = "BLOCK"
def On_CLOSE_DEBUG_MODE(self):
messagebox.showinfo("Note", "You closed the debug mode")
MarkerPrinter.debugMode = None
if __name__ == '__main__':
MarkerPrinterGUI()
3.1代码二
# MarkerPrinter.py
#!/usr/bin/env python3
# SPDX-License-Identifier: BSD-3-Clause
#
# Copyright (c) 2019, Josh Chien. All rights reserved.
from argparse import ArgumentParser
import numpy as np
from PIL import Image
import io
import warnings
import os
import cairo
from cairosvg import svg2png
import math
import tempfile
def SaveArucoDictBytesList(filePath = "arucoDictBytesList.npz"):
import numpy as np
# cv2 is optional dependency
try:
import cv2
from cv2 import aruco
# Name, Flag
dictInfo = \
[
("DICT_4X4_1000", aruco.DICT_4X4_1000),
("DICT_5X5_1000", aruco.DICT_5X5_1000),
("DICT_6X6_1000", aruco.DICT_6X6_1000),
("DICT_7X7_1000", aruco.DICT_7X7_1000),
("DICT_ARUCO_ORIGINAL", aruco.DICT_ARUCO_ORIGINAL),
("DICT_APRILTAG_16h5", aruco.DICT_APRILTAG_16h5),
("DICT_APRILTAG_25h9", aruco.DICT_APRILTAG_25h9),
("DICT_APRILTAG_36h10", aruco.DICT_APRILTAG_36h10),
("DICT_APRILTAG_36h11", aruco.DICT_APRILTAG_36h11),
]
arucoDictBytesList = {}
for name, flag in dictInfo:
arucoDict = aruco.Dictionary_get(flag)
arucoDictBytesList[name] = arucoDict.bytesList
np.savez_compressed(filePath, **arucoDictBytesList)
return arucoDictBytesList
except Exception as e:
warnings.warn(str(e))
return None
return None
class MarkerPrinter:
debugMode = None # "LINE" "BLOCK"
# Static Vars
# SVG https://oreillymedia.github.io/Using_SVG/guide/units.html
# for PDF and SVG, 1 pixel = 1/72 inch, 1 cm = 1/2.54 inch, 1pixl = 2.54/72 cm, 1cm = 72/2.54 pixels
ptPerMeter = 72 / 2.54 * 100
surface = {
".SVG": cairo.SVGSurface,
".PDF": cairo.PDFSurface,
".PS": cairo.PSSurface }
if (os.path.isfile("arucoDictBytesList.npz")):
arucoDictBytesList = np.load("arucoDictBytesList.npz")
else:
warnings.warn("Missing build-in arucoDictBytesList.npz, generate it again")
arucoDictBytesList = SaveArucoDictBytesList(filePath = "arucoDictBytesList.npz")
arucoDictMarkerSize = \
{
"DICT_4X4_1000": 4,
"DICT_5X5_1000": 5,
"DICT_6X6_1000": 6,
"DICT_7X7_1000": 7,
"DICT_ARUCO_ORIGINAL": 5,
"DICT_APRILTAG_16h5": 4,
"DICT_APRILTAG_25h9": 5,
"DICT_APRILTAG_36h10": 6,
"DICT_APRILTAG_36h11": 6,
}
def ArucoBits(dictionary, markerID):
bytesList = MarkerPrinter.arucoDictBytesList[dictionary][markerID].ravel()
markerSize = MarkerPrinter.arucoDictMarkerSize[dictionary]
arucoBits = np.zeros(shape = (markerSize, markerSize), dtype = bool)
base2List = np.array( [128, 64, 32, 16, 8, 4, 2, 1], dtype = np.uint8)
currentByteIdx = 0
currentByte = bytesList[currentByteIdx]
currentBit = 0
for row in range(markerSize):
for col in range(markerSize):
if(currentByte >= base2List[currentBit]):
arucoBits[row, col] = True
currentByte -= base2List[currentBit]
currentBit = currentBit + 1
if(currentBit == 8):
currentByteIdx = currentByteIdx + 1
currentByte = bytesList[currentByteIdx]
if(8 * (currentByteIdx + 1) > arucoBits.size):
currentBit = 8 * (currentByteIdx + 1) - arucoBits.size
else:
currentBit = 0;
return arucoBits
def __DrawBlock(context,
dictionary = None, markerLength = None, borderBits = 1,
chessboardSize = (1, 1), squareLength = None, firstMarkerID = 0,
blockX = 0, blockY = 0, originX = 0, originY = 0, pageBorderX = 0, pageBorderY = 0,
mode = "CHESS" ):
if(squareLength is None):
squareLength = markerLength
if(markerLength is None):
markerLength = squareLength
if((squareLength is None) or (markerLength is None)):
raise ValueError("lenght is None")
dawMarkerBlock = False
if ((mode == "ARUCO") or (mode == "ARUCOGRID")):
dawMarkerBlock = True
elif(chessboardSize[1] % 2 == 0):
dawMarkerBlock = (( blockX % 2 == 0 ) == ( blockY % 2 == 0 ))
else:
dawMarkerBlock = (( blockX % 2 == 0 ) != ( blockY % 2 == 0 ))
if(dawMarkerBlock):
if (mode != "CHESS"):
if(dictionary is None):
raise ValueError("dictionary is None")
if (mode == "CHARUCO"):
originX = (blockX - originX) * squareLength + (squareLength - markerLength)*0.5 + pageBorderX
originY = (blockY - originY) * squareLength + (squareLength - markerLength)*0.5 + pageBorderY
else:
originX = (blockX - originX) * squareLength + pageBorderX
originY = (blockY - originY) * squareLength + pageBorderY
context.set_source_rgba(0.0, 0.0, 0.0, 1.0)
context.rectangle(originX, originY, markerLength, markerLength)
context.fill()
# Generate marker
if (mode == "CHARUCO"):
markerID = firstMarkerID + (blockY * chessboardSize[0] + blockX) // 2
elif (mode == "ARUCO"):
markerID = firstMarkerID
elif (mode == "ARUCOGRID"):
markerID = firstMarkerID + (blockY * chessboardSize[0] + blockX)
marker = MarkerPrinter.ArucoBits(dictionary, markerID)
markerSize = marker.shape[0]
unitLength = markerLength / (float)(markerSize + borderBits * 2)
markerBitMap = np.zeros(shape = (markerSize+borderBits*2, markerSize+borderBits*2), dtype = bool)
markerBitMap[borderBits:-borderBits,borderBits:-borderBits] = marker
markerBitMap = np.swapaxes(markerBitMap, 0, 1)
# Compute edges
hEdges = np.zeros(shape = (markerSize+1,markerSize+1), dtype = bool)
vEdges = np.zeros(shape = (markerSize+1,markerSize+1), dtype = bool)
for mx in range(markerSize):
for my in range(markerSize+1):
if ( markerBitMap[mx + borderBits, my + borderBits - 1] ^ markerBitMap[mx + borderBits, my + borderBits]):
hEdges[mx, my] = True
for mx in range(markerSize+1):
for my in range(markerSize):
if ( markerBitMap[mx + borderBits - 1, my + borderBits] ^ markerBitMap[mx + borderBits, my + borderBits]):
vEdges[mx, my] = True
# Use for debug, check edge or position is correct or not
if(MarkerPrinter.debugMode is not None):
if(MarkerPrinter.debugMode.upper() == "LINE"):
context.set_source_rgba(1.0, 1.0, 1.0, 1.0)
context.set_line_width(unitLength * 0.1)
for mx in range(markerSize+1):
for my in range(markerSize+1):
if(hEdges[mx, my]):
context.move_to(originX + unitLength * (mx + borderBits ), originY + unitLength * (my + borderBits ))
context.line_to(originX + unitLength * (mx + borderBits + 1), originY + unitLength * (my + borderBits ))
context.stroke()
if(vEdges[mx, my]):
context.move_to(originX + unitLength * (mx + borderBits ), originY + unitLength * (my + borderBits ))
context.line_to(originX + unitLength * (mx + borderBits ), originY + unitLength * (my + borderBits + 1))
context.stroke()
elif(MarkerPrinter.debugMode.upper() == "BLOCK"):
context.set_source_rgba(1.0, 1.0, 1.0, 1.0)
for mx in range(markerSize):
for my in range(markerSize):
if(markerBitMap[mx + borderBits, my + borderBits]):
context.rectangle(
originX + unitLength * (mx + borderBits),
originY + unitLength * (my + borderBits),
unitLength, unitLength)
context.fill()
else:
while(True):
found = False
# Find start position
sx = 0
sy = 0
for my in range(markerSize):
for mx in range(markerSize):
if(hEdges[mx, my]):
found = True
sx = mx
sy = my
if(markerBitMap[sx + borderBits, sy + borderBits - 1]):
context.set_source_rgba(0.0, 0.0, 0.0, 1.0)
else:
context.set_source_rgba(1.0, 1.0, 1.0, 1.0)
break
if(found):
break
context.move_to (originX + unitLength * (sx + borderBits), originY + unitLength * (sy + borderBits))
# Use wall follower maze solving algorithm to draw white part
cx = sx
cy = sy
cd = 3 # 0 right, 1 down, 2 left, 3 up
while(True):
nd = (cd + 1)%4
moved = False
if(nd == 0):
if(hEdges[cx, cy]):
hEdges[cx, cy] = False
cx = cx + 1
moved = True
elif(nd == 1):
if(vEdges[cx, cy]):
vEdges[cx, cy] = False
cy = cy + 1
moved = True
elif(nd == 2):
if(hEdges[cx - 1, cy]):
hEdges[cx - 1, cy] = False
cx = cx - 1
moved = True
elif(nd == 3):
if(vEdges[cx, cy - 1]):
vEdges[cx, cy - 1] = False
cy = cy - 1
moved = True
if((cx == sx) and (cy == sy)):
context.close_path ()
break
else:
if(moved):
context.line_to(originX + unitLength * (cx + borderBits), originY + unitLength * (cy + borderBits))
cd = nd
if (found):
context.fill()
else:
break
else:
originX = (blockX - originX) * squareLength + pageBorderX
originY = (blockY - originY) * squareLength + pageBorderY
context.set_source_rgba(0.0, 0.0, 0.0, 1.0)
context.rectangle(originX, originY, squareLength, squareLength)
context.fill()
def __CheckChessMarkerImage(chessboardSize, squareLength, subSize=None, pageBorder=(0,0)):
if(len(chessboardSize) != 2):
raise ValueError("len(chessboardSize) != 2")
else:
sizeX, sizeY = chessboardSize
if(len(pageBorder) != 2):
raise ValueError("len(pageBorder) != 2")
else:
pageBorderX, pageBorderY = pageBorder
if(sizeX <= 1):
raise ValueError("sizeX <= 1")
if(sizeY <= 1):
raise ValueError("sizeY <= 1")
if(squareLength <= 0):
raise ValueError("squareLength <= 0")
if(pageBorderX < 0):
raise ValueError("pageBorderX < 0")
if(pageBorderY < 0):
raise ValueError("pageBorderY < 0")
if(subSize is not None):
subSizeX, subSizeY = subSize
if(subSizeX < 0):
raise ValueError("subSizeX < 0")
if(subSizeY < 0):
raise ValueError("subSizeY < 0")
def PreviewChessMarkerImage(chessboardSize, squareLength, pageBorder=(0, 0), dpi=96):
MarkerPrinter.__CheckChessMarkerImage(chessboardSize, squareLength, pageBorder=pageBorder)
squareLength = squareLength * MarkerPrinter.ptPerMeter
pageBorder = (pageBorder[0] * MarkerPrinter.ptPerMeter, pageBorder[1] * MarkerPrinter.ptPerMeter)
prevImage = None
with tempfile.TemporaryDirectory() as tmpdirname:
with MarkerPrinter.surface[".SVG"] (
os.path.join(tmpdirname, "tempSVG.svg"),
chessboardSize[0] * squareLength + pageBorder[0] * 2,
chessboardSize[1] * squareLength + pageBorder[1] * 2) as surface:
context = cairo.Context(surface)
context.set_source_rgba(0.5, 0.5, 0.5, 1.0)
context.rectangle(0, 0,
chessboardSize[0] * squareLength + pageBorder[0] * 2,
chessboardSize[1] * squareLength + pageBorder[1] * 2)
context.fill()
context.set_source_rgba(1.0, 1.0, 1.0, 1.0)
context.rectangle(pageBorder[0], pageBorder[1],
chessboardSize[0] * squareLength,
chessboardSize[1] * squareLength)
context.fill()
for bx in range(chessboardSize[0]):
for by in range(chessboardSize[1]):
MarkerPrinter.__DrawBlock(
context = context,
chessboardSize = chessboardSize,
squareLength = squareLength,
blockX = bx,
blockY = by,
pageBorderX = pageBorder[0],
pageBorderY = pageBorder[1],
mode = "CHESS")
with open(os.path.join(tmpdirname, "tempSVG.svg")) as file:
prevImage = Image.open(io.BytesIO(svg2png(bytestring=file.read(), dpi=dpi)))
return prevImage
def GenChessMarkerImage(filePath, chessboardSize, squareLength, subSize=None, pageBorder=(0, 0)):
MarkerPrinter.__CheckChessMarkerImage(chessboardSize, squareLength, subSize=subSize, pageBorder=pageBorder)
squareLength = squareLength * MarkerPrinter.ptPerMeter
pageBorder = (pageBorder[0] * MarkerPrinter.ptPerMeter, pageBorder[1] * MarkerPrinter.ptPerMeter)
# Check
path, nameExt = os.path.split(filePath)
name, ext = os.path.splitext(nameExt)
if(len(path) > 0):
if not(os.path.isdir(path)):
os.makedirs(path)
if((ext.upper() != ".SVG") and (ext.upper() != ".PS") and (ext.upper() != ".PDF")):
raise ValueError("file extention is not supported, should be: svg, ps, pdf")
# Draw
with MarkerPrinter.surface[ext.upper()] (
filePath,
chessboardSize[0] * squareLength + pageBorder[0] * 2,
chessboardSize[1] * squareLength + pageBorder[1] * 2) as surface:
context = cairo.Context(surface)
context.set_source_rgba(0.5, 0.5, 0.5, 1.0)
context.rectangle(0, 0,
chessboardSize[0] * squareLength + pageBorder[0] * 2,
chessboardSize[1] * squareLength + pageBorder[1] * 2)
context.fill()
context.set_source_rgba(1.0, 1.0, 1.0, 1.0)
context.rectangle(pageBorder[0], pageBorder[1],
chessboardSize[0] * squareLength,
chessboardSize[1] * squareLength)
context.fill()
for bx in range(chessboardSize[0]):
for by in range(chessboardSize[1]):
MarkerPrinter.__DrawBlock(
context = context,
chessboardSize = chessboardSize,
squareLength = squareLength,
blockX = bx,
blockY = by,
pageBorderX = pageBorder[0],
pageBorderY = pageBorder[1],
mode = "CHESS" )
if(subSize is not None):
subDivide = (\
chessboardSize[0] // subSize[0] + int(chessboardSize[0] % subSize[0] > 0),
chessboardSize[1] // subSize[1] + int(chessboardSize[1] % subSize[1] > 0))
subChessboardBlockX = np.clip ( np.arange(0, subSize[0] * subDivide[0] + 1, subSize[0]), 0, chessboardSize[0])
subChessboardBlockY = np.clip ( np.arange(0, subSize[1] * subDivide[1] + 1, subSize[1]), 0, chessboardSize[1])
subChessboardSliceX = subChessboardBlockX.astype(np.float) * squareLength
subChessboardSliceY = subChessboardBlockY.astype(np.float) * squareLength
for subXID in range(subDivide[0]):
for subYID in range(subDivide[1]):
subName = name + \
"_X" + str(subChessboardBlockX[subXID]) + "_" + str(subChessboardBlockX[subXID+1]) + \
"_Y" + str(subChessboardBlockY[subYID]) + "_" + str(subChessboardBlockY[subYID+1])
with MarkerPrinter.surface[ext.upper()](
os.path.join(path, subName + ext),
subChessboardSliceX[subXID+1] - subChessboardSliceX[subXID] + pageBorder[0] * 2,
subChessboardSliceY[subYID+1] - subChessboardSliceY[subYID] + pageBorder[1] * 2) as surface:
context = cairo.Context(surface)
context.set_source_rgba(0.5, 0.5, 0.5, 1.0)
context.rectangle(0, 0,
subChessboardSliceX[subXID+1] - subChessboardSliceX[subXID] + pageBorder[0] * 2,
subChessboardSliceY[subYID+1] - subChessboardSliceY[subYID] + pageBorder[1] * 2)
context.fill()
context.set_source_rgba(1.0, 1.0, 1.0, 1.0)
context.rectangle(pageBorder[0], pageBorder[1],
subChessboardSliceX[subXID+1] - subChessboardSliceX[subXID],
subChessboardSliceY[subYID+1] - subChessboardSliceY[subYID])
context.fill()
for bx in range(subChessboardBlockX[subXID+1] - subChessboardBlockX[subXID]):
for by in range(subChessboardBlockY[subYID+1] - subChessboardBlockY[subYID]):
MarkerPrinter.__DrawBlock(
context = context,
chessboardSize = chessboardSize,
squareLength = squareLength,
blockX = subChessboardBlockX[subXID] + bx,
blockY = subChessboardBlockY[subYID] + by,
originX = subChessboardBlockX[subXID],
originY = subChessboardBlockY[subYID],
pageBorderX = pageBorder[0],
pageBorderY = pageBorder[1],
mode = "CHESS" )
def __CheckArucoMarkerImage(dictionary, markerID, markerLength, borderBits=1, pageBorder=(0, 0)):
if(len(pageBorder) != 2):
raise ValueError("len(pageBorder) != 2")
else:
pageBorderX, pageBorderY = pageBorder
if not (dictionary in MarkerPrinter.arucoDictBytesList):
raise ValueError("dictionary is not support")
if(MarkerPrinter.arucoDictBytesList[dictionary].shape[0] <= markerID ):
raise ValueError("markerID is not in aruce dictionary")
if(markerID < 0):
raise ValueError("markerID < 0")
if(markerLength <= 0):
raise ValueError("markerLength <= 0")
if(borderBits <= 0):
raise ValueError("borderBits <= 0")
if(pageBorderX < 0):
raise ValueError("pageBorderX < 0")
if(pageBorderY < 0):
raise ValueError("pageBorderY < 0")
def PreviewArucoMarkerImage(dictionary, markerID, markerLength, borderBits=1, pageBorder=(0, 0), dpi=96):
MarkerPrinter.__CheckArucoMarkerImage(dictionary, markerID, markerLength, borderBits=borderBits, pageBorder=pageBorder)
markerLength = markerLength * MarkerPrinter.ptPerMeter
pageBorder = (pageBorder[0] * MarkerPrinter.ptPerMeter, pageBorder[1] * MarkerPrinter.ptPerMeter)
prevImage = None
with tempfile.TemporaryDirectory() as tmpdirname:
with MarkerPrinter.surface[".SVG"] (
os.path.join(tmpdirname, "tempSVG.svg"),
markerLength + pageBorder[0] * 2,
markerLength + pageBorder[1] * 2) as surface:
context = cairo.Context(surface)
context.set_source_rgba(0.5, 0.5, 0.5, 1.0)
context.rectangle(0, 0,
markerLength + pageBorder[0] * 2,
markerLength + pageBorder[1] * 2)
context.fill()
context.set_source_rgba(1.0, 1.0, 1.0, 1.0)
context.rectangle(pageBorder[0], pageBorder[1],
markerLength,
markerLength)
context.fill()
MarkerPrinter.__DrawBlock(
context = context,
dictionary = dictionary,
markerLength = markerLength,
borderBits = borderBits,
firstMarkerID = markerID,
pageBorderX = pageBorder[0],
pageBorderY = pageBorder[1],
mode = "ARUCO")
with open(os.path.join(tmpdirname, "tempSVG.svg")) as file:
prevImage = Image.open(io.BytesIO(svg2png(bytestring=file.read(), dpi=dpi)))
return prevImage
def GenArucoMarkerImage(filePath, dictionary, markerID, markerLength, borderBits=1, pageBorder=(0, 0)):
MarkerPrinter.__CheckArucoMarkerImage(dictionary, markerID, markerLength, borderBits=borderBits, pageBorder=pageBorder)
markerLength = markerLength * MarkerPrinter.ptPerMeter
pageBorder = (pageBorder[0] * MarkerPrinter.ptPerMeter, pageBorder[1] * MarkerPrinter.ptPerMeter)
# Check
path, nameExt = os.path.split(filePath)
name, ext = os.path.splitext(nameExt)
if(len(path) > 0):
if not(os.path.isdir(path)):
os.makedirs(path)
if((ext.upper() != ".SVG") and (ext.upper() != ".PS") and (ext.upper() != ".PDF")):
raise ValueError("file extention is not supported, should be: svg, ps, pdf")
# Draw
with MarkerPrinter.surface[ext.upper()] (
filePath,
markerLength + pageBorder[0] * 2,
markerLength + pageBorder[1] * 2) as surface:
context = cairo.Context(surface)
context.set_source_rgba(0.5, 0.5, 0.5, 1.0)
context.rectangle(0, 0,
markerLength + pageBorder[0] * 2,
markerLength + pageBorder[1] * 2)
context.fill()
context.set_source_rgba(1.0, 1.0, 1.0, 1.0)
context.rectangle(pageBorder[0], pageBorder[1],
markerLength,
markerLength)
context.fill()
MarkerPrinter.__DrawBlock(
context = context,
dictionary = dictionary,
markerLength = markerLength,
borderBits = borderBits,
firstMarkerID = markerID,
pageBorderX = pageBorder[0],
pageBorderY = pageBorder[1],
mode = "ARUCO")
def __CheckCharucoMarkerImage(dictionary, chessboardSize, squareLength, markerLength, borderBits=1, subSize=None, pageBorder=(0, 0)):
if(len(chessboardSize) != 2):
raise ValueError("len(chessboardSize) != 2")
else:
sizeX, sizeY = chessboardSize
if(len(pageBorder) != 2):
raise ValueError("len(pageBorder) != 2")
else:
pageBorderX, pageBorderY = pageBorder
if not (dictionary in MarkerPrinter.arucoDictBytesList):
raise ValueError("dictionary is not support")
if(MarkerPrinter.arucoDictBytesList[dictionary].shape[0] < (( sizeX * sizeY ) // 2)):
raise ValueError("aruce dictionary is not enough for your board size")
if(sizeX <= 1):
raise ValueError("sizeX <= 1")
if(sizeY <= 1):
raise ValueError("sizeY <= 1")
if(squareLength <= 0):
raise ValueError("squareLength <= 0")
if(markerLength <= 0):
raise ValueError("markerLength <= 0")
if(squareLength < markerLength):
raise ValueError("squareLength < markerLength")
if(borderBits <= 0):
raise ValueError("borderBits <= 0")
if(pageBorderX < 0):
raise ValueError("pageBorderX < 0")
if(pageBorderY < 0):
raise ValueError("pageBorderY < 0")
if(subSize is not None):
subSizeX, subSizeY = subSize
if(subSizeX < 0):
raise ValueError("subSizeX < 0")
if(subSizeY < 0):
raise ValueError("subSizeY < 0")
def PreviewCharucoMarkerImage(dictionary, chessboardSize, squareLength, markerLength, borderBits=1, pageBorder=(0, 0), dpi=96):
MarkerPrinter.__CheckCharucoMarkerImage(dictionary, chessboardSize, squareLength, markerLength, borderBits=borderBits, pageBorder=pageBorder)
squareLength = squareLength * MarkerPrinter.ptPerMeter
markerLength = markerLength * MarkerPrinter.ptPerMeter
pageBorder = (pageBorder[0] * MarkerPrinter.ptPerMeter, pageBorder[1] * MarkerPrinter.ptPerMeter)
prevImage = None
with tempfile.TemporaryDirectory() as tmpdirname:
with MarkerPrinter.surface[".SVG"] (
os.path.join(tmpdirname, "tempSVG.svg"),
chessboardSize[0] * squareLength + pageBorder[0] * 2,
chessboardSize[1] * squareLength + pageBorder[1] * 2) as surface:
context = cairo.Context(surface)
context.set_source_rgba(0.5, 0.5, 0.5, 1.0)
context.rectangle(0, 0,
chessboardSize[0] * squareLength + pageBorder[0] * 2,
chessboardSize[1] * squareLength + pageBorder[1] * 2)
context.fill()
context.set_source_rgba(1.0, 1.0, 1.0, 1.0)
context.rectangle(pageBorder[0], pageBorder[1],
chessboardSize[0] * squareLength,
chessboardSize[1] * squareLength)
context.fill()
for bx in range(chessboardSize[0]):
for by in range(chessboardSize[1]):
MarkerPrinter.__DrawBlock(
context = context,
dictionary = dictionary,
markerLength = markerLength,
borderBits = borderBits,
chessboardSize = chessboardSize,
squareLength = squareLength,
blockX = bx,
blockY = by,
pageBorderX = pageBorder[0],
pageBorderY = pageBorder[1],
mode = "CHARUCO")
with open(os.path.join(tmpdirname, "tempSVG.svg")) as file:
prevImage = Image.open(io.BytesIO(svg2png(bytestring=file.read(), dpi=dpi)))
return prevImage
def GenCharucoMarkerImage(filePath, dictionary, chessboardSize, squareLength, markerLength, borderBits=1, subSize=None, pageBorder=(0, 0)):
MarkerPrinter.__CheckCharucoMarkerImage(dictionary, chessboardSize, squareLength, markerLength, borderBits=borderBits, subSize=subSize, pageBorder=pageBorder)
squareLength = squareLength * MarkerPrinter.ptPerMeter
markerLength = markerLength * MarkerPrinter.ptPerMeter
pageBorder = (pageBorder[0] * MarkerPrinter.ptPerMeter, pageBorder[1] * MarkerPrinter.ptPerMeter)
# Check
path, nameExt = os.path.split(filePath)
name, ext = os.path.splitext(nameExt)
if(len(path) > 0):
if not(os.path.isdir(path)):
os.makedirs(path)
if((ext.upper() != ".SVG") and (ext.upper() != ".PS") and (ext.upper() != ".PDF")):
raise ValueError("file extention is not supported, should be: svg, ps, pdf")
# Draw
with MarkerPrinter.surface[ext.upper()] (
filePath,
chessboardSize[0] * squareLength + pageBorder[0] * 2,
chessboardSize[1] * squareLength + pageBorder[1] * 2) as surface:
context = cairo.Context(surface)
context.set_source_rgba(0.5, 0.5, 0.5, 1.0)
context.rectangle(0, 0,
chessboardSize[0] * squareLength + pageBorder[0] * 2,
chessboardSize[1] * squareLength + pageBorder[1] * 2)
context.fill()
context.set_source_rgba(1.0, 1.0, 1.0, 1.0)
context.rectangle(pageBorder[0], pageBorder[1],
chessboardSize[0] * squareLength,
chessboardSize[1] * squareLength)
context.fill()
for bx in range(chessboardSize[0]):
for by in range(chessboardSize[1]):
MarkerPrinter.__DrawBlock(
context = context,
dictionary = dictionary,
markerLength = markerLength,
borderBits = borderBits,
chessboardSize = chessboardSize,
squareLength = squareLength,
blockX = bx,
blockY = by,
pageBorderX = pageBorder[0],
pageBorderY = pageBorder[1],
mode = "CHARUCO")
if(subSize is not None):
subDivide = (\
chessboardSize[0] // subSize[0] + int(chessboardSize[0] % subSize[0] > 0),
chessboardSize[1] // subSize[1] + int(chessboardSize[1] % subSize[1] > 0))
subChessboardBlockX = np.clip ( np.arange(0, subSize[0] * subDivide[0] + 1, subSize[0]), 0, chessboardSize[0])
subChessboardBlockY = np.clip ( np.arange(0, subSize[1] * subDivide[1] + 1, subSize[1]), 0, chessboardSize[1])
subChessboardSliceX = subChessboardBlockX.astype(np.float) * squareLength
subChessboardSliceY = subChessboardBlockY.astype(np.float) * squareLength
for subXID in range(subDivide[0]):
for subYID in range(subDivide[1]):
subName = name + \
"_X" + str(subChessboardBlockX[subXID]) + "_" + str(subChessboardBlockX[subXID+1]) + \
"_Y" + str(subChessboardBlockY[subYID]) + "_" + str(subChessboardBlockY[subYID+1])
with MarkerPrinter.surface[ext.upper()](
os.path.join(path, subName + ext),
subChessboardSliceX[subXID+1] - subChessboardSliceX[subXID] + pageBorder[0] * 2,
subChessboardSliceY[subYID+1] - subChessboardSliceY[subYID] + pageBorder[1] * 2) as surface:
context = cairo.Context(surface)
context.set_source_rgba(0.5, 0.5, 0.5, 1.0)
context.rectangle(0, 0,
subChessboardSliceX[subXID+1] - subChessboardSliceX[subXID] + pageBorder[0] * 2,
subChessboardSliceY[subYID+1] - subChessboardSliceY[subYID] + pageBorder[1] * 2)
context.fill()
context.set_source_rgba(1.0, 1.0, 1.0, 1.0)
context.rectangle(pageBorder[0], pageBorder[1],
subChessboardSliceX[subXID+1] - subChessboardSliceX[subXID],
subChessboardSliceY[subYID+1] - subChessboardSliceY[subYID])
context.fill()
for bx in range(subChessboardBlockX[subXID+1] - subChessboardBlockX[subXID]):
for by in range(subChessboardBlockY[subYID+1] - subChessboardBlockY[subYID]):
MarkerPrinter.__DrawBlock(
context = context,
dictionary = dictionary,
markerLength = markerLength,
borderBits = borderBits,
chessboardSize = chessboardSize,
squareLength = squareLength,
blockX = subChessboardBlockX[subXID] + bx,
blockY = subChessboardBlockY[subYID] + by,
originX = subChessboardBlockX[subXID],
originY = subChessboardBlockY[subYID],
pageBorderX = pageBorder[0],
pageBorderY = pageBorder[1],
mode = "CHARUCO")
def __CheckArucoGridMarkerImage(dictionary, chessboardSize, markerLength, markerSeparation, firstMarker, borderBits=1, subSize=None, pageBorder=(0, 0)):
if(len(chessboardSize) != 2):
raise ValueError("len(chessboardSize) != 2")
else:
sizeX, sizeY = chessboardSize
if(len(pageBorder) != 2):
raise ValueError("len(pageBorder) != 2")
else:
pageBorderX, pageBorderY = pageBorder
if not (dictionary in MarkerPrinter.arucoDictBytesList):
raise ValueError("dictionary is not support")
if(MarkerPrinter.arucoDictBytesList[dictionary].shape[0] < (( sizeX * sizeY ) + firstMarker)):
raise ValueError("aruce dictionary is not enough for your board size and firstMarker")
if(sizeX <= 1):
raise ValueError("sizeX <= 1")
if(sizeY <= 1):
raise ValueError("sizeY <= 1")
if(markerLength <= 0):
raise ValueError("markerLength <= 0")
if(markerSeparation <= 0):
raise ValueError("markerSeparation <= 0")
if(borderBits <= 0):
raise ValueError("borderBits <= 0")
if(pageBorderX < 0):
raise ValueError("pageBorderX < 0")
if(pageBorderY < 0):
raise ValueError("pageBorderY < 0")
if(subSize is not None):
subSizeX, subSizeY = subSize
if(subSizeX < 0):
raise ValueError("subSizeX < 0")
if(subSizeY < 0):
raise ValueError("subSizeY < 0")
def PreviewArucoGridMarkerImage(dictionary, chessboardSize, markerLength, markerSeparation, firstMarker, borderBits=1, pageBorder=(0, 0), dpi=96):
MarkerPrinter.__CheckArucoGridMarkerImage(dictionary, chessboardSize, markerLength, markerSeparation, firstMarker, borderBits=borderBits, pageBorder=pageBorder)
markerLength = markerLength * MarkerPrinter.ptPerMeter
markerSeparation = markerSeparation * MarkerPrinter.ptPerMeter
pageBorder = (pageBorder[0] * MarkerPrinter.ptPerMeter, pageBorder[1] * MarkerPrinter.ptPerMeter)
prevImage = None
with tempfile.TemporaryDirectory() as tmpdirname:
with MarkerPrinter.surface[".SVG"] (
os.path.join(tmpdirname, "tempSVG.svg"),
chessboardSize[0] * markerLength + (chessboardSize[0] - 1) * markerSeparation + pageBorder[0] * 2,
chessboardSize[1] * markerLength + (chessboardSize[1] - 1) * markerSeparation + pageBorder[1] * 2) as surface:
context = cairo.Context(surface)
context.set_source_rgba(0.5, 0.5, 0.5, 1.0)
context.rectangle(0, 0,
chessboardSize[0] * markerLength + (chessboardSize[0] - 1) * markerSeparation + pageBorder[0] * 2,
chessboardSize[1] * markerLength + (chessboardSize[1] - 1) * markerSeparation + pageBorder[1] * 2)
context.fill()
context.set_source_rgba(1.0, 1.0, 1.0, 1.0)
context.rectangle(pageBorder[0], pageBorder[1],
chessboardSize[0] * markerLength + (chessboardSize[0] - 1) * markerSeparation,
chessboardSize[1] * markerLength + (chessboardSize[1] - 1) * markerSeparation)
context.fill()
for bx in range(chessboardSize[0]):
for by in range(chessboardSize[1]):
MarkerPrinter.__DrawBlock(
context = context,
dictionary = dictionary,
markerLength = markerLength,
borderBits = borderBits,
chessboardSize = chessboardSize,
squareLength = markerLength + markerSeparation,
firstMarkerID = firstMarker,
blockX = bx,
blockY = by,
pageBorderX = pageBorder[0],
pageBorderY = pageBorder[1],
mode = "ARUCOGRID")
with open(os.path.join(tmpdirname, "tempSVG.svg")) as file:
prevImage = Image.open(io.BytesIO(svg2png(bytestring=file.read(), dpi=dpi)))
return prevImage
def GenArucoGridMarkerImage(filePath, dictionary, chessboardSize, markerLength, markerSeparation, firstMarker, borderBits=1, subSize=None, pageBorder=(0, 0)):
MarkerPrinter.__CheckArucoGridMarkerImage(dictionary, chessboardSize, markerLength, markerSeparation, firstMarker, borderBits=borderBits, subSize=subSize, pageBorder=pageBorder)
markerLength = markerLength * MarkerPrinter.ptPerMeter
markerSeparation = markerSeparation * MarkerPrinter.ptPerMeter
pageBorder = (pageBorder[0] * MarkerPrinter.ptPerMeter, pageBorder[1] * MarkerPrinter.ptPerMeter)
# Check
path, nameExt = os.path.split(filePath)
name, ext = os.path.splitext(nameExt)
if(len(path) > 0):
if not(os.path.isdir(path)):
os.makedirs(path)
if((ext.upper() != ".SVG") and (ext.upper() != ".PS") and (ext.upper() != ".PDF")):
raise ValueError("file extention is not supported, should be: svg, ps, pdf")
# Draw
with MarkerPrinter.surface[ext.upper()] (
filePath,
chessboardSize[0] * markerLength + (chessboardSize[0] - 1) * markerSeparation + pageBorder[0] * 2,
chessboardSize[1] * markerLength + (chessboardSize[1] - 1) * markerSeparation + pageBorder[1] * 2) as surface:
context = cairo.Context(surface)
context.set_source_rgba(0.5, 0.5, 0.5, 1.0)
context.rectangle(0, 0,
chessboardSize[0] * markerLength + (chessboardSize[0] - 1) * markerSeparation + pageBorder[0] * 2,
chessboardSize[1] * markerLength + (chessboardSize[1] - 1) * markerSeparation + pageBorder[1] * 2)
context.fill()
context.set_source_rgba(1.0, 1.0, 1.0, 1.0)
context.rectangle(pageBorder[0], pageBorder[1],
chessboardSize[0] * markerLength + (chessboardSize[0] - 1) * markerSeparation,
chessboardSize[1] * markerLength + (chessboardSize[1] - 1) * markerSeparation)
context.fill()
for bx in range(chessboardSize[0]):
for by in range(chessboardSize[1]):
MarkerPrinter.__DrawBlock(
context = context,
dictionary = dictionary,
markerLength = markerLength,
borderBits = borderBits,
chessboardSize = chessboardSize,
squareLength = markerLength + markerSeparation,
firstMarkerID = firstMarker,
blockX = bx,
blockY = by,
pageBorderX = pageBorder[0],
pageBorderY = pageBorder[1],
mode = "ARUCOGRID")
if(subSize is not None):
subDivide = (\
chessboardSize[0] // subSize[0] + int(chessboardSize[0] % subSize[0] > 0),
chessboardSize[1] // subSize[1] + int(chessboardSize[1] % subSize[1] > 0))
subChessboardBlockX = np.clip ( np.arange(0, subSize[0] * subDivide[0] + 1, subSize[0]), 0, chessboardSize[0])
subChessboardBlockY = np.clip ( np.arange(0, subSize[1] * subDivide[1] + 1, subSize[1]), 0, chessboardSize[1])
subChessboardSliceX = subChessboardBlockX.astype(np.float) * (markerLength + markerSeparation)
subChessboardSliceY = subChessboardBlockY.astype(np.float) * (markerLength + markerSeparation)
subChessboardSliceX[-1] -= markerSeparation
subChessboardSliceY[-1] -= markerSeparation
for subXID in range(subDivide[0]):
for subYID in range(subDivide[1]):
subName = name + \
"_X" + str(subChessboardBlockX[subXID]) + "_" + str(subChessboardBlockX[subXID+1]) + \
"_Y" + str(subChessboardBlockY[subYID]) + "_" + str(subChessboardBlockY[subYID+1])
with MarkerPrinter.surface[ext.upper()](
os.path.join(path, subName + ext),
subChessboardSliceX[subXID+1] - subChessboardSliceX[subXID] + pageBorder[0] * 2,
subChessboardSliceY[subYID+1] - subChessboardSliceY[subYID] + pageBorder[1] * 2) as surface:
context = cairo.Context(surface)
context.set_source_rgba(0.5, 0.5, 0.5, 1.0)
context.rectangle(0, 0,
subChessboardSliceX[subXID+1] - subChessboardSliceX[subXID] + pageBorder[0] * 2,
subChessboardSliceY[subYID+1] - subChessboardSliceY[subYID] + pageBorder[1] * 2)
context.fill()
context.set_source_rgba(1.0, 1.0, 1.0, 1.0)
context.rectangle(pageBorder[0], pageBorder[1],
subChessboardSliceX[subXID+1] - subChessboardSliceX[subXID],
subChessboardSliceY[subYID+1] - subChessboardSliceY[subYID])
context.fill()
for bx in range(subChessboardBlockX[subXID+1] - subChessboardBlockX[subXID]):
for by in range(subChessboardBlockY[subYID+1] - subChessboardBlockY[subYID]):
MarkerPrinter.__DrawBlock(
context = context,
dictionary = dictionary,
markerLength = markerLength,
borderBits = borderBits,
chessboardSize = chessboardSize,
squareLength = markerLength + markerSeparation,
firstMarkerID = firstMarker,
blockX = subChessboardBlockX[subXID] + bx,
blockY = subChessboardBlockY[subYID] + by,
originX = subChessboardBlockX[subXID],
originY = subChessboardBlockY[subYID],
pageBorderX = pageBorder[0],
pageBorderY = pageBorder[1],
mode = "ARUCOGRID")
if __name__ == '__main__':
parser = ArgumentParser()
# Save marker image parameters
chessGroup = parser.add_argument_group('chess', 'Chessboard')
arucoGroup = parser.add_argument_group('aruco', 'ArUco')
arucoGridGroup = parser.add_argument_group('aruco_grid', 'ArUco grid')
charucoGroup = parser.add_argument_group('charuco', 'ChArUco')
exclusiveGroup = parser.add_mutually_exclusive_group()
exclusiveGroup.add_argument(
"--chess", action='store_true', default=False,
help="Choose to save chessboard marker")
exclusiveGroup.add_argument(
"--aruco", action='store_true', default=False,
help="Choose to save ArUco marker")
exclusiveGroup.add_argument(
"--aruco_grid", action='store_true', default=False,
help="Choose to save ArUco grid marker")
exclusiveGroup.add_argument(
"--charuco", action='store_true', default=False,
help="Choose to save ChArUco marker")
# Utility functions parameters
exclusiveGroup.add_argument(
"--generate", dest="arucoDataFileName",
help="Generate aruco data to FILE", metavar="FILE")
exclusiveGroup.add_argument(
"--list_dictionary", action='store_true', default=False,
help="List predefined aruco dictionary")
# Parameters
# fileName
parser.add_argument(
"--file", dest="fileName", default="./image.pdf",
help="Save marker image to FILE", metavar="FILE")
for group in [chessGroup, arucoGroup, arucoGridGroup, charucoGroup]:
group.add_argument(
"--" + group.title + "_file", dest="fileName",
help="Save marker image to FILE", metavar="FILE")
# dictionary
parser.add_argument(
"--dictionary", dest="dictionary", default="DICT_ARUCO_ORIGINAL",
help="Generate marker via predefined DICTIONARY aruco dictionary", metavar="DICTIONARY")
for group in [arucoGroup, arucoGridGroup, charucoGroup]:
group.add_argument(
"--" + group.title + "_dictionary", dest="dictionary",
help="Generate marker via predefined DICTIONARY aruco dictionary", metavar="DICTIONARY")
# size
parser.add_argument(
"--size_x", dest="sizeX", default="16",
help="Save marker image with N board width", metavar="N")
parser.add_argument(
"--size_y", dest="sizeY", default="9",
help="Save marker image with N board height", metavar="N")
for group in [chessGroup, arucoGridGroup, charucoGroup]:
group.add_argument(
"--" + group.title + "_size_x", dest="sizeX",
help="Save marker image with N board width", metavar="N")
group.add_argument(
"--" + group.title + "_size_y", dest="sizeY",
help="Save marker image with N board height", metavar="N")
# length
parser.add_argument(
"--square_length", dest="squareLength", default="0.09",
help="Save marker image with L square length (Unit: meter)", metavar="L")
parser.add_argument(
"--marker_length", dest="markerLength", default="0.07",
help="Save marker image with L marker length (Unit: meter)", metavar="L")
parser.add_argument(
"--marker_separation", dest="markerSeparation", default="0.02",
help="Save marker image with L separation length (Unit: meter)", metavar="L")
for group in [chessGroup, charucoGroup]:
group.add_argument(
"--" + group.title + "_square_length", dest="squareLength",
help="Save marker image with L blocks length (Unit: meter)", metavar="L")
for group in [arucoGroup, arucoGridGroup, charucoGroup]:
group.add_argument(
"--" + group.title + "_marker_length", dest="markerLength",
help="Save marker image with L marker length (Unit: meter)", metavar="L")
for group in [arucoGridGroup]:
group.add_argument(
"--" + group.title + "_marker_separation", dest="markerSeparation",
help="Save marker image with L gap length (Unit: meter)", metavar="L")
# else
parser.add_argument(
"--marker_id", dest="markerID", default="0",
help="Save marker image with ID marker", metavar="ID")
parser.add_argument(
"--first_marker", dest="firstMarker", default="0",
help="Save marker image that start with ID marker", metavar="ID")
parser.add_argument(
"--border_bits", dest="borderBits", default="1",
help="Save marker image with N border size", metavar="N")
for group in [arucoGroup]:
group.add_argument(
"--" + group.title + "_marker_id", dest="markerID",
help="Save marker image with ID marker", metavar="ID")
for group in [arucoGridGroup]:
group.add_argument(
"--" + group.title + "_first_marker", dest="firstMarker",
help="Save marker image that start with ID marker", metavar="ID")
for group in [arucoGroup, arucoGridGroup, charucoGroup]:
group.add_argument(
"--" + group.title + "_border_bits", dest="borderBits",
help="Save marker image with N border size", metavar="N")
# sub size
parser.add_argument(
"--sub_size_x", dest="subSizeX", default="0",
help="Save marker image with N chuck width", metavar="N")
parser.add_argument(
"--sub_size_y", dest="subSizeY", default="0",
help="Save marker image with N chuck height", metavar="N")
for group in [chessGroup, arucoGridGroup, charucoGroup]:
group.add_argument(
"--" + group.title + "_sub_size_x", dest="subSizeX",
help="Save marker image with N chuck width", metavar="N")
group.add_argument(
"--" + group.title + "_sub_size_y", dest="subSizeY",
help="Save marker image with N chuck height", metavar="N")
# page border
parser.add_argument(
"--page_border_x", dest="pageBorderX", default="0",
help="Save with page border width L length (Unit: meter)", metavar="L")
parser.add_argument(
"--page_border_y", dest="pageBorderY", default="0",
help="Save with page border height L length (Unit: meter)", metavar="L")
for group in [chessGroup, arucoGroup, arucoGridGroup, charucoGroup]:
group.add_argument(
"--" + group.title + "_page_border_x", dest="pageBorderX", default="0",
help="Save with page border width L length (Unit: meter)", metavar="L")
group.add_argument(
"--" + group.title + "_page_border_y", dest="pageBorderY", default="0",
help="Save with page border height L length (Unit: meter)", metavar="L")
# Run
args = parser.parse_args()
if(args.arucoDataFileName is not None):
print("Generate aruco data to: " + args.arucoDataFileName)
SaveArucoDictBytesList(args.arucoDataFileName)
elif(args.list_dictionary):
print("List predefined aruco dictionary")
for i in MarkerPrinter.arucoDictBytesList.keys():
print(i)
elif(args.chess):
try:
sizeX = int(args.sizeX)
sizeY = int(args.sizeY)
squareLength = float(args.squareLength)
subSizeX = int(args.subSizeX)
subSizeY = int(args.subSizeY)
pageBorderX = float(args.pageBorderX)
pageBorderY = float(args.pageBorderY)
except ValueError as e:
warnings.warn(str(e))
else:
print("Save chessboard marker with parms: " + \
str({ \
"fileName": args.fileName, \
"sizeX": sizeX, \
"sizeY": sizeY, \
"squareLength": squareLength, \
"subSizeX": subSizeX, \
"subSizeY": subSizeY, \
"pageBorderX": pageBorderX, \
"pageBorderY": pageBorderY, \
}))
subSize = None
if(subSizeX > 0):
if(subSizeY > 0):
subSize = (subSizeX, subSizeY)
else:
subSize = (subSizeX, sizeY)
else:
if(subSizeY > 0):
subSize = (sizeX, subSizeY)
else:
subSize = None
# Gen
MarkerPrinter.GenChessMarkerImage(args.fileName, (sizeX, sizeY), squareLength, subSize = subSize, pageBorder = (pageBorderX, pageBorderY))
elif(args.aruco):
try:
markerLength = float(args.markerLength)
markerID = int(args.markerID)
borderBits = int(args.borderBits)
pageBorderX = float(args.pageBorderX)
pageBorderY = float(args.pageBorderY)
except ValueError as e:
warnings.warn(str(e))
else:
print("Save ArUco marker with parms: " + \
str({ \
"fileName": args.fileName, \
"dictionary": args.dictionary, \
"markerLength": markerLength, \
"markerID": markerID, \
"borderBits": borderBits, \
"pageBorderX": pageBorderX, \
"pageBorderY": pageBorderY, \
}))
# Gen
MarkerPrinter.GenArucoMarkerImage(args.fileName, args.dictionary, markerID, markerLength, borderBits=borderBits, pageBorder = (pageBorderX, pageBorderY))
elif(args.aruco_grid):
try:
sizeX = int(args.sizeX)
sizeY = int(args.sizeY)
markerLength = float(args.markerLength)
markerSeparation = float(args.markerSeparation)
firstMarker = int(args.firstMarker)
borderBits = int(args.borderBits)
subSizeX = int(args.subSizeX)
subSizeY = int(args.subSizeY)
pageBorderX = float(args.pageBorderX)
pageBorderY = float(args.pageBorderY)
except ValueError as e:
warnings.warn(str(e))
else:
print("Save ArUco grid marker with parms: " + \
str({ \
"fileName": args.fileName, \
"dictionary": args.dictionary, \
"sizeX": sizeX, \
"sizeY": sizeY, \
"markerLength": markerLength, \
"markerSeparation": markerSeparation, \
"firstMarker": firstMarker, \
"borderBits": borderBits, \
"subSizeX": subSizeX, \
"subSizeY": subSizeY, \
"pageBorderX": pageBorderX, \
"pageBorderY": pageBorderY, \
}))
subSize = None
if(subSizeX > 0):
if(subSizeY > 0):
subSize = (subSizeX, subSizeY)
else:
subSize = (subSizeX, sizeY)
else:
if(subSizeY > 0):
subSize = (sizeX, subSizeY)
else:
subSize = None
# Gen
MarkerPrinter.GenArucoGridMarkerImage(args.fileName, args.dictionary, (sizeX, sizeY), markerLength, markerSeparation, firstMarker, borderBits=borderBits, subSize=subSize, pageBorder = (pageBorderX, pageBorderY))
elif(args.charuco):
try:
sizeX = int(args.sizeX)
sizeY = int(args.sizeY)
squareLength = float(args.squareLength)
markerLength = float(args.markerLength)
borderBits = int(args.borderBits)
subSizeX = int(args.subSizeX)
subSizeY = int(args.subSizeY)
pageBorderX = float(args.pageBorderX)
pageBorderY = float(args.pageBorderY)
except ValueError as e:
warnings.warn(str(e))
else:
print("Save ChArUco marker with parms: " + \
str({ \
"fileName": args.fileName, \
"dictionary": args.dictionary, \
"sizeX": sizeX, \
"sizeY": sizeY, \
"squareLength": squareLength, \
"markerLength": markerLength, \
"borderBits": borderBits, \
"subSizeX": subSizeX, \
"subSizeY": subSizeY, \
"pageBorderX": pageBorderX, \
"pageBorderY": pageBorderY, \
}))
subSize = None
if(subSizeX > 0):
if(subSizeY > 0):
subSize = (subSizeX, subSizeY)
else:
subSize = (subSizeX, sizeY)
else:
if(subSizeY > 0):
subSize = (sizeX, subSizeY)
else:
subSize = None
# Gen
MarkerPrinter.GenCharucoMarkerImage(args.fileName, args.dictionary, (sizeX, sizeY), squareLength, markerLength, borderBits=borderBits, subSize=subSize, pageBorder = (pageBorderX, pageBorderY))
else:
parser.print_help()
BONUS
以下是svg文件转为png或者pdf的代码
import cairosvg
# svg_path = 'a.svg'
# png_path = 'a.png'
# cairosvg.svg2png(url=svg_path, write_to=png_path)
# import os
#
# path = "001"
# for file in os.listdir(path):
# path = ''
# path = os.path.join(path, file)
# # print(path)
#
# if file.endswith('.svg'):
# png_path = path.replace('.svg', '.png')
# print(path, png_path)
# cairosvg.svg2png(url=path, write_to=png_path)
# else:
# print(path)
import cairosvg
cairosvg.svg2pdf(url='chess.svg', write_to='image.pdf')
for PDF and SVG, 1 pixel = 1/72 inch, 1 cm = 1/2.54 inch, 1pixl = 2.54/72 cm, 1cm = 72/2.54 pixels
参考目录
https://github.com/opencv/opencv_contrib/tree/4.x/modules/aruco/misc/pattern_generator
标签：column,self,标定,相机,grid,tk,NSEW,row,3D 来源： https://blog.csdn.net/weixin_43229348/article/details/121676633
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