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selflocalization/makelandmark.py

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+import cv2  # Import the OpenCV library
+import numpy as np
+
+
+# TODO make this configurable from the command line using parser
+markerID = 10 # Try 1 - 4
+
+# Define some relevant constants
+dpi = 72  # dots (pixels) per inch [inch^(-1)]
+inch2mm = 25.4  # [mm / inch]
+dpmm = dpi / inch2mm  # Dots per mm [mm^(-1)]
+
+# Define size of output image to fit A4 paper
+a4width = 210.0  # [mm]
+a4height = 297.0  # [mm]
+
+# Size of output image
+width = np.uint(np.round(a4width * dpmm))  # [pixels]
+height = np.uint(np.round(a4height * dpmm))  # [pixels]
+
+# Size of ArUco marker
+markerPhysicalSize = 150  # [mm]
+markerSize = np.uint(np.round(markerPhysicalSize * dpmm))  # [pixels]
+
+# Create landmark image (all white gray scale image)
+#landmarkImage = np.ones((width, height), dtype=np.uint8) * np.uint8(255)
+landmarkImage = np.ones((height, width), dtype=np.uint8) * np.uint8(255)
+
+# Initialize the ArUco dictionary
+arucoDict = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_6X6_250)
+
+# Draw marker
+startWidth = int(np.round((width-markerSize)/2))
+startHeight = int(np.round((height-markerSize)/2))
+landmarkImage[startHeight:int(startHeight+markerSize), startWidth:int(startWidth+markerSize)] = cv2.aruco.drawMarker(arucoDict, markerID, markerSize, 1)
+cv2.putText(landmarkImage, str(markerID), (startWidth, startHeight - 60), cv2.FONT_HERSHEY_SIMPLEX, 2.0, (0,0,0), 2)
+
+
+# Save image
+cv2.imwrite("../../../data/landmark" + str(markerID) + ".png", landmarkImage)
+
+# Show image
+cv2.namedWindow("Landmark")
+cv2.imshow("Landmark", landmarkImage)
+cv2.waitKey()