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MarkerPrinter.py
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MarkerPrinter.py
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#!/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(