{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "# AR tag generation\n", "Alvar, the ROS AR tracking package, comes with a feature to automatically generate AR tags. To generate them, you must first install ROS and the `ar_track_alvar` [package](https://wiki.ros.org/ar_track_alvar).\n", "\n", "This can be used from the command line by running `rosrun ar_track_alvar createMarker`, which will describe the various command line options." ] }, { "attachments": { "Marker_13.png": { "image/png": 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" } }, "cell_type": "markdown", "metadata": {}, "source": [ "## Script for AR tag generation\n", "This is a script to automatically generate 27 cm AR tags (27 cm black edge to black edge at 96 pixels per centimeter) with 1.5 cm margins on each side and the tag number included. They look like this:\n", "\n", "![Marker_13.png](attachment:Marker_13.png)" ] }, { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [], "source": [ "#!/usr/bin/env python\n", "from subprocess import call\n", "import cv2\n", "import os\n", "\n", "# Marker width in cm border to border\n", "DESIRED_MARKER_SIZE_CM = 27.0\n", "\n", "# Size of the white margin around the marker in cm\n", "MARGIN_CM = 1.5\n", "\n", "# Marker resolution in pixels per centimeter\n", "PPCM = 96\n", "\n", "# Number of units from edge to edge. Ex. a 5x5 AR tag with a 2 unit border has 9 units edge to edge\n", "MARKER_UNIT_SIZE = 9\n", "\n", "# Number of pixels per AR tag unit\n", "PIXELS_PER_UNIT = DESIRED_MARKER_SIZE_CM/MARKER_UNIT_SIZE * PPCM\n", "\n", "# Size of the white margin around the marker in pixels\n", "MARGIN_PX = int(PPCM*MARGIN_CM)\n", "\n", "\n", "for marker_number in range(0, 100):\n", " '''\n", " Call ar_track_alvar's generation script.\n", " The syntax is identical to the command line\n", " The marker's number must be last\n", " '''\n", " call(['rosrun', 'ar_track_alvar', 'createMarker', '-u', str(PIXELS_PER_UNIT), str(marker_number)])\n", "\n", " # Alvar generates the marker with this name\n", " initial_file_name = \"MarkerData_\" + str(marker_number) + \".png\"\n", "\n", " # Save the marker with this name\n", " final_file_name = \"Marker_\" + str(marker_number) + \".png\"\n", "\n", " '''\n", " This part adds a margin and adds the number to the lower left margin of the image\n", " '''\n", " marker = cv2.imread(initial_file_name, cv2.IMREAD_GRAYSCALE)\n", "\n", " # Add a white margin to the marker\n", " padded_marker = cv2.copyMakeBorder(marker,MARGIN_PX,MARGIN_PX,MARGIN_PX,MARGIN_PX,cv2.BORDER_CONSTANT,value=255)\n", "\n", " height, width = padded_marker.shape\n", "\n", " # Add the marker number to the marker\n", " cv2.putText(padded_marker,str(marker_number),(MARGIN_PX, height - 20),cv2.FONT_HERSHEY_SIMPLEX,5,0,2,cv2.LINE_AA)\n", "\n", " # Delete the original file\n", " os.remove(initial_file_name)\n", "\n", " # Save the labeled marker with our new file name\n", " cv2.imwrite(final_file_name, padded_marker)" ] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 2 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython2", "version": "2.7.15+" } }, "nbformat": 4, "nbformat_minor": 2 }