Initial commit

.gitignore

@@ -127,3 +127,6 @@ dmypy.json
 
 # Pyre type checker
 .pyre/
+
+# bat
+*.bat

sample.py

@@ -0,0 +1,148 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+import copy
+import time
+import argparse
+
+import cv2 as cv
+from pupil_apriltags import Detector
+
+
+def get_args():
+    parser = argparse.ArgumentParser()
+
+    parser.add_argument("--device", type=int, default=0)
+    parser.add_argument("--width", help='cap width', type=int, default=960)
+    parser.add_argument("--height", help='cap height', type=int, default=540)
+
+    parser.add_argument("--families", type=str, default='tag36h11')
+    parser.add_argument("--nthreads", type=int, default=1)
+    parser.add_argument("--quad_decimate", type=float, default=2.0)
+    parser.add_argument("--quad_sigma", type=float, default=0.0)
+    parser.add_argument("--refine_edges", type=int, default=1)
+    parser.add_argument("--decode_sharpening", type=float, default=0.25)
+    parser.add_argument("--debug", type=int, default=0)
+
+    args = parser.parse_args()
+
+    return args
+
+
+def main():
+    # 引数解析 #################################################################
+    args = get_args()
+
+    cap_device = args.device
+    cap_width = args.width
+    cap_height = args.height
+
+    families = args.families
+    nthreads = args.nthreads
+    quad_decimate = args.quad_decimate
+    quad_sigma = args.quad_sigma
+    refine_edges = args.refine_edges
+    decode_sharpening = args.decode_sharpening
+    debug = args.debug
+
+    # カメラ準備 ###############################################################
+    cap = cv.VideoCapture(cap_device)
+    cap.set(cv.CAP_PROP_FRAME_WIDTH, cap_width)
+    cap.set(cv.CAP_PROP_FRAME_HEIGHT, cap_height)
+
+    # Detector準備 #############################################################
+    at_detector = Detector(
+        families=families,
+        nthreads=nthreads,
+        quad_decimate=quad_decimate,
+        quad_sigma=quad_sigma,
+        refine_edges=refine_edges,
+        decode_sharpening=decode_sharpening,
+        debug=debug,
+    )
+
+    elapsed_time = 0
+
+    while True:
+        start_time = time.time()
+
+        # カメラキャプチャ #####################################################
+        ret, image = cap.read()
+        if not ret:
+            break
+        debug_image = copy.deepcopy(image)
+
+        # 検出実施 #############################################################
+        image = cv.cvtColor(image, cv.COLOR_BGR2GRAY)
+        tags = at_detector.detect(
+            image,
+            estimate_tag_pose=False,
+            camera_params=None,
+            tag_size=None,
+        )
+
+        # 描画 ################################################################
+        debug_image = draw_tags(debug_image, tags, elapsed_time)
+
+        elapsed_time = time.time() - start_time
+
+        # キー処理(ESC：終了) #################################################
+        key = cv.waitKey(1)
+        if key == 27:  # ESC
+            break
+
+        # 画面反映 #############################################################
+        cv.imshow('AprilTag Detect Demo', debug_image)
+
+    cap.release()
+    cv.destroyAllWindows()
+
+
+def draw_tags(
+    image,
+    tags,
+    elapsed_time,
+):
+    for tag in tags:
+        tag_family = tag.tag_family
+        tag_id = tag.tag_id
+        center = tag.center
+        corners = tag.corners
+
+        center = (int(center[0]), int(center[1]))
+        corner_01 = (int(corners[0][0]), int(corners[0][1]))
+        corner_02 = (int(corners[1][0]), int(corners[1][1]))
+        corner_03 = (int(corners[2][0]), int(corners[2][1]))
+        corner_04 = (int(corners[3][0]), int(corners[3][1]))
+
+        # 中心
+        cv.circle(image, (center[0], center[1]), 5, (0, 0, 255), 2)
+
+        # 各辺
+        cv.line(image, (corner_01[0], corner_01[1]),
+                (corner_02[0], corner_02[1]), (255, 0, 0), 2)
+        cv.line(image, (corner_02[0], corner_02[1]),
+                (corner_03[0], corner_03[1]), (255, 0, 0), 2)
+        cv.line(image, (corner_03[0], corner_03[1]),
+                (corner_04[0], corner_04[1]), (0, 255, 0), 2)
+        cv.line(image, (corner_04[0], corner_04[1]),
+                (corner_01[0], corner_01[1]), (0, 255, 0), 2)
+
+        # タグファミリー、タグID
+        # cv.putText(image,
+        #            str(tag_family) + ':' + str(tag_id),
+        #            (corner_01[0], corner_01[1] - 10), cv.FONT_HERSHEY_SIMPLEX,
+        #            0.6, (0, 255, 0), 1, cv.LINE_AA)
+        cv.putText(image, str(tag_id), (center[0] - 10, center[1] - 10),
+                   cv.FONT_HERSHEY_SIMPLEX, 0.75, (0, 0, 255), 2, cv.LINE_AA)
+
+    # 処理時間
+    cv.putText(image,
+               "Elapsed Time:" + '{:.1f}'.format(elapsed_time * 1000) + "ms",
+               (10, 30), cv.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 0), 2,
+               cv.LINE_AA)
+
+    return image
+
+
+if __name__ == '__main__':
+    main()