Aruco marker Detection

Arucomarker_detection/README.md

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+
+
+
+**Aruco Marker Detection**
+
+
+
+**GOAL**
+
+
+To Detect Aruco markers and their id from the dataset.
+
+
+
+**DESCRIPTION**
+
+
+
+The main aim of the project is to detect aruco markers in the images.
+
+
+**Preprocessing**
+Resized image for better accuracy.
+
+**Libraries Used**
+
+* cv2 
+* cv2.aruco 
+* os
+* numpy
+
+
+**WORK DONE**
+
+1. Loaded images from the dataset folder.
+2. Reshaped  and copied original image. 
+3. Using open cv's aruco library, detected and drawn markers on the image.

Arucomarker_detection/aruco_detection.py

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+# importing libraries
+import cv2 as cv
+import os
+import numpy as np
+import cv2.aruco as aruco
+# import matplotlib.pyplot as plt
+
+# Creating list of all dictionary to make sure all the markers get detected
+dic_list = [
+    aruco.DICT_4X4_50,
+    aruco.DICT_4X4_100,
+    aruco.DICT_4X4_250,
+    aruco.DICT_4X4_1000,
+    aruco.DICT_4X4_100,
+    aruco.DICT_4X4_250,
+    aruco.DICT_4X4_1000,
+    aruco.DICT_4X4_100,
+    aruco.DICT_4X4_250,
+    aruco.DICT_4X4_1000,
+    aruco.DICT_4X4_100,
+    aruco.DICT_4X4_250,
+    aruco.DICT_4X4_1000,
+    aruco.DICT_4X4_100,
+    aruco.DICT_4X4_250,
+    aruco.DICT_4X4_1000,
+    aruco.DICT_5X5_50,
+    aruco.DICT_5X5_100,
+    aruco.DICT_5X5_250,
+    aruco.DICT_5X5_1000,
+    aruco.DICT_6X6_50,
+    aruco.DICT_6X6_100,
+    aruco.DICT_6X6_250,
+    aruco.DICT_6X6_1000,
+    aruco.DICT_7X7_50,
+    aruco.DICT_7X7_100,
+    aruco.DICT_7X7_250,
+    aruco.DICT_7X7_1000,
+    aruco.DICT_ARUCO_ORIGINAL,
+    aruco.DICT_APRILTAG_16h5,
+    aruco.DICT_APRILTAG_25h9,
+    aruco.DICT_APRILTAG_36h10,
+    aruco.DICT_APRILTAG_36h11,
+]
+
+
+# Path to the folder 
+folder_path = "Dataset"
+
+# Initializing aruco dictionary
+aruco_dict = aruco.Dictionary_get(aruco.DICT_4X4_250)
+
+# Initializing detector parameters
+parameters = aruco.DetectorParameters_create()
+
+
+# Accessing each image 
+for image_item in os.listdir(path= folder_path):
+
+
+    img_path = os.path.join(folder_path, image_item)
+    img = cv.imread(str(img_path))
+
+    img = cv.resize(img, (250, 250), interpolation=cv.INTER_AREA)
+
+    #Creating copy of the image
+    img_copy = img
+
+    cv.waitKey(0)
+
+    # Got the image now converting it to grayscale
+    gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
+
+    aruco_ids = set()
+
+    for dic in dic_list:
+        aruco_dict = aruco.Dictionary_get(dic)
+        corners, ids, rejectedImgPoints = aruco.detectMarkers(gray, aruco_dict, parameters=parameters)
+
+        if ids is not None:
+            aruco.drawDetectedMarkers(img, corners, ids)
+
+            # Adding ids to the set
+            ids = np.ravel(ids)
+            for id in ids:
+                aruco_ids.add(id)
+
+    # print(f"""
+    # corners = {corners}
+    # ids = {ids}
+    # rejected = {rejectedImgPoints} 
+    # """)
+
+    if not aruco_ids:
+        print("Not able to detect.")
+    else: 
+        print(f"Detected Ids: {aruco_ids}")
+
+    # Displaying the marked image
+    cv.imshow("Original Image", img_copy)
+    cv.imshow('ArUco Marked Image', img)
+    # cv.waitKey(0) 
+    # Break the loop when 'q' key is pressed
+    if cv.waitKey(0) & 0xFF == ord('q'):
+        break