ArucoGenerator

data/ArucoGenerator/generate_5x5.py

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+# aruco_svg_batch.py
+from __future__ import annotations
+import os
+from typing import List, Tuple
+
+OUT_DIR = "svgAruco"
+FILL_COLOR = "#031740"
+DICT_NAME = "DICT_5X5_250"
+MARKER_SIZE_BITS = 5
+BORDER_BITS = 1
+SIDE_PIXELS_PER_MODULE = 8
+START_INDEX = 0
+PDF_NAME = "aruco_5x5_250_A4.pdf"
+MARKER_SIZE_MM = 10.0
+
+def _ensure_deps():
+    try:
+        import cv2
+        from cv2 import aruco
+    except Exception as e:
+        raise SystemExit("Install opencv-contrib-python: " + str(e))
+    try:
+        import reportlab
+    except Exception as e:
+        raise SystemExit("Install reportlab: " + str(e))
+
+def _get_dictionary(dict_name: str):
+    from cv2 import aruco
+    if hasattr(aruco, "getPredefinedDictionary"):
+        return aruco.getPredefinedDictionary(getattr(aruco, dict_name))
+    return aruco.Dictionary_get(getattr(aruco, dict_name))
+
+def _draw_marker(dictionary, marker_id: int, modules: int, spp: int):
+    from cv2 import aruco
+    side_px = modules * spp
+    if hasattr(aruco, "generateImageMarker"):
+        img = aruco.generateImageMarker(dictionary, marker_id, side_px, borderBits=BORDER_BITS)
+    else:
+        img = aruco.drawMarker(dictionary, marker_id, side_px, borderBits=BORDER_BITS)
+    return img
+
+def _modules_from_image(img) -> List[Tuple[int, int]]:
+    import numpy as np
+    h, w = img.shape[:2]
+    modules = h // SIDE_PIXELS_PER_MODULE
+    step = SIDE_PIXELS_PER_MODULE
+    black_modules = []
+    bw = (img < 128).astype(np.uint8)
+    for r in range(modules):
+        rs = r * step
+        re = rs + step
+        for c in range(modules):
+            cs = c * step
+            ce = cs + step
+            block = bw[rs:re, cs:ce]
+            if block.mean() > 0.5:
+                black_modules.append((c, r))
+    return black_modules
+
+def _svg_for_modules(black_modules: List[Tuple[int, int]], modules: int, fill: str) -> str:
+    parts = [
+        f'<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 {modules} {modules}" shape-rendering="crispEdges">',
+        f'<g fill="{fill}">'
+    ]
+    for (x, y) in black_modules:
+        parts.append(f'<rect x="{x}" y="{y}" width="1" height="1"/>')
+    parts.append('</g></svg>')
+    return ''.join(parts)
+
+# PDF helpers
+
+def mm(v):
+    return v * 72.0 / 25.4
+
+from reportlab.pdfgen import canvas as _c
+from reportlab.lib.pagesizes import A4
+from reportlab.lib.colors import HexColor, Color
+from reportlab.pdfbase import pdfmetrics
+
+def _hex_to_reportlab(c):
+    try:
+        return HexColor(c)
+    except Exception:
+        return Color(0, 0, 0)
+
+def _layout_grid_vars(page_w, page_h):
+    MARKER_MM = MARKER_SIZE_MM
+    MARGIN_MM = 4.0
+    GUTTER_MM = 7.0
+
+    marker = mm(MARKER_MM)
+    margin = mm(MARGIN_MM)
+    gutter = mm(GUTTER_MM)
+
+    usable_w = page_w - 2 * margin
+    usable_h = page_h - 2 * margin
+
+    # Anzahl Marker berechnen, die reinpassen
+    cols = int((usable_w + gutter) // (marker + gutter))
+    rows = int((usable_h + gutter) // (marker + gutter))
+
+    return dict(
+        margin=margin,
+        gutter=gutter,
+        cols=cols,
+        rows=rows,
+        cell_w=marker,
+        cell_h=marker
+    )
+
+def _draw_marker_into_cell(c, cell_x, cell_y, cell_w, cell_h,
+                           black_modules, modules_per_side,
+                           module_fill_hex, index_label: str):
+    # label area    
+    EXTRA_BOTTOM_MM = 10.0
+    label_h = mm(4.5 + EXTRA_BOTTOM_MM)
+
+    marker_side = cell_w  # statt min(...)
+    module_size = marker_side / float(modules_per_side)
+
+
+    mx = cell_x + (cell_w - marker_side) / 2.0
+    my = cell_y + (cell_h - label_h - marker_side) / 2.0 + label_h
+
+    c.saveState()
+    c.setFillColor(_hex_to_reportlab(module_fill_hex))
+    for (x, y) in black_modules:
+        rx = mx + x * module_size
+        #ry = my + y * module_size
+        ry = my + (modules_per_side - 1 - y) * module_size
+        c.rect(rx, ry, module_size, module_size, stroke=0, fill=1)
+    c.restoreState()
+
+    # orientation dot: 2mm inside
+    dot_d_mm = 0.4
+    edge_gap_mm = 0.4
+    r = mm(dot_d_mm) / 2.0
+    gap = mm(edge_gap_mm)
+    dot_cx = mx + gap + r
+    dot_cy = my + marker_side - (gap + r)
+    c.saveState()
+    c.setFillColor(_hex_to_reportlab('#510000'))
+    c.circle(dot_cx, dot_cy, r, stroke=0, fill=1)
+    c.restoreState()
+
+    # label: exact 2mm gap using font ascent
+    c.saveState()
+    font_name = 'Helvetica'
+    font_size = 7
+    c.setFont(font_name, font_size)
+    c.setFillColor(Color(0.7, 0.7, 0.7))
+    tx = mx + marker_side / 2.0
+    ascent = pdfmetrics.getAscent(font_name) * (font_size/1000.0)
+    baseline = my - mm(1.3) - ascent
+    c.drawCentredString(tx, baseline, index_label)
+    c.restoreState()
+
+
+def build_a4_pdf(pdf_path: str = PDF_NAME):
+    _ensure_deps()
+    dictionary = _get_dictionary(DICT_NAME)
+    modules = MARKER_SIZE_BITS + 2 * BORDER_BITS
+    PAGE_W, PAGE_H = A4
+    c = _c.Canvas(pdf_path, pagesize=A4)
+    grid = _layout_grid_vars(PAGE_W, PAGE_H)
+    COLS, ROWS = grid['cols'], grid['rows']
+    per_page = COLS * ROWS
+    total = 250
+    for idx in range(total):
+        if idx % per_page == 0:
+            if idx > 0:
+                c.showPage()
+        i_on_page = idx % per_page
+        col = i_on_page % COLS
+        row = i_on_page // COLS
+        x = grid['margin'] + col * (grid['cell_w'] + grid['gutter'])
+        y = grid['margin'] + (grid['rows'] - 1 - row) * (grid['cell_h'] + grid['gutter'])
+        img = _draw_marker(dictionary, marker_id=idx, modules=modules, spp=SIDE_PIXELS_PER_MODULE)
+        black_modules = _modules_from_image(img)
+        label = f"{idx + START_INDEX:03d}"
+        _draw_marker_into_cell(c, x, y, grid['cell_w'], grid['cell_h'], black_modules, modules, FILL_COLOR, label)
+    c.save()
+    return pdf_path
+
+
+def main():
+    _ensure_deps()
+    os.makedirs(OUT_DIR, exist_ok=True)
+    dictionary = _get_dictionary(DICT_NAME)
+    modules = MARKER_SIZE_BITS + 2 * BORDER_BITS
+    total = 250
+    for idx in range(total):
+        img = _draw_marker(dictionary, marker_id=idx, modules=modules, spp=SIDE_PIXELS_PER_MODULE)
+        black_modules = _modules_from_image(img)
+        svg = _svg_for_modules(black_modules, modules, FILL_COLOR)
+        fname = f"aruco_{idx + START_INDEX:03d}.svg"
+        with open(os.path.join(OUT_DIR, fname), 'w', encoding='utf-8') as f:
+            f.write(svg)
+    pdf_path = build_a4_pdf(PDF_NAME)
+    print('PDF saved to:', pdf_path)
+
+if __name__ == '__main__':
+    main()