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<li class="toctree-l3"><a class="reference internal" href="#recognizing-aruco-tags">Recognizing ArUco tags</a></li>
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<div class="section" id="aruco">
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<span id="lib-vision"></span><h1>Aruco<a class="headerlink" href="#aruco" title="Permalink to this headline"></a></h1>
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<div class="section" id="examples">
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<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
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<div class="section" id="recognizing-aruco-tags">
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<h3>Recognizing ArUco tags<a class="headerlink" href="#recognizing-aruco-tags" title="Permalink to this headline"></a></h3>
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<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">time</span>
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<span class="kn">import</span> <span class="nn">cv2</span>
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<span class="kn">from</span> <span class="nn">cv2</span> <span class="kn">import</span> <span class="n">aruco</span>
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<span class="kn">from</span> <span class="nn">compLib</span> <span class="kn">import</span> <span class="n">Vision</span>
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<span class="n">ARUCO_DICT</span> <span class="o">=</span> <span class="n">cv2</span><span class="o">.</span><span class="n">aruco</span><span class="o">.</span><span class="n">Dictionary_get</span><span class="p">(</span><span class="n">aruco</span><span class="o">.</span><span class="n">DICT_6X6_250</span><span class="p">)</span>
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<span class="n">ARUCO_PARAMETERS</span> <span class="o">=</span> <span class="n">aruco</span><span class="o">.</span><span class="n">DetectorParameters_create</span><span class="p">()</span>
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<span class="k">def</span> <span class="nf">getTagCenterFromFrame</span><span class="p">(</span><span class="nb">id</span><span class="p">,</span> <span class="n">frame</span><span class="p">):</span>
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<span class="n">gray</span> <span class="o">=</span> <span class="n">cv2</span><span class="o">.</span><span class="n">cvtColor</span><span class="p">(</span><span class="n">frame</span><span class="p">,</span> <span class="n">cv2</span><span class="o">.</span><span class="n">COLOR_BGR2GRAY</span><span class="p">)</span>
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<span class="n">corners</span><span class="p">,</span> <span class="n">ids</span><span class="p">,</span> <span class="n">rejectedImgPoints</span> <span class="o">=</span> <span class="n">aruco</span><span class="o">.</span><span class="n">detectMarkers</span><span class="p">(</span><span class="n">gray</span><span class="p">,</span> <span class="n">ARUCO_DICT</span><span class="p">,</span> <span class="n">parameters</span> <span class="o">=</span> <span class="n">ARUCO_PARAMETERS</span><span class="p">)</span>
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<span class="n">frame</span> <span class="o">=</span> <span class="n">aruco</span><span class="o">.</span><span class="n">drawDetectedMarkers</span><span class="p">(</span><span class="n">frame</span><span class="o">.</span><span class="n">copy</span><span class="p">(),</span> <span class="n">corners</span><span class="p">,</span> <span class="n">ids</span><span class="p">)</span>
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<span class="k">if</span> <span class="n">ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
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<span class="k">return</span> <span class="n">frame</span><span class="p">,</span> <span class="kc">None</span><span class="p">,</span> <span class="kc">None</span>
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<span class="k">for</span> <span class="n">tag_id</span><span class="p">,</span> <span class="n">corner</span> <span class="ow">in</span> <span class="nb">zip</span><span class="p">(</span><span class="n">ids</span><span class="p">,</span> <span class="n">corners</span><span class="p">):</span>
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<span class="k">if</span> <span class="p">(</span><span class="n">tag_id</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">==</span> <span class="nb">id</span><span class="p">):</span>
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<span class="n">x</span><span class="p">,</span> <span class="n">y</span> <span class="o">=</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span>
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<span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">4</span><span class="p">):</span>
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<span class="n">x</span> <span class="o">+=</span> <span class="n">corner</span><span class="p">[</span><span class="mi">0</span><span class="p">][</span><span class="n">i</span><span class="p">][</span><span class="mi">0</span><span class="p">]</span> <span class="o">*</span> <span class="mf">0.25</span>
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<span class="n">y</span> <span class="o">+=</span> <span class="n">corner</span><span class="p">[</span><span class="mi">0</span><span class="p">][</span><span class="n">i</span><span class="p">][</span><span class="mi">1</span><span class="p">]</span> <span class="o">*</span> <span class="mf">0.25</span>
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<span class="k">return</span> <span class="n">frame</span><span class="p">,</span> <span class="n">x</span><span class="p">,</span> <span class="n">y</span>
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<span class="k">return</span> <span class="n">frame</span><span class="p">,</span> <span class="kc">None</span><span class="p">,</span> <span class="kc">None</span>
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<span class="c1"># Get the center from the aruco tag with the specified id</span>
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<span class="c1"># in pixel coordinates (0-640, 0-480)</span>
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<span class="k">def</span> <span class="nf">getTagPosition</span><span class="p">(</span><span class="nb">id</span><span class="p">):</span>
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<span class="n">frame</span> <span class="o">=</span> <span class="n">Vision</span><span class="o">.</span><span class="n">Streaming</span><span class="o">.</span><span class="n">get_frame</span><span class="p">()</span>
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<span class="n">frame</span><span class="p">,</span> <span class="n">x</span><span class="p">,</span> <span class="n">y</span> <span class="o">=</span> <span class="n">getTagCenterFromFrame</span><span class="p">(</span><span class="nb">id</span><span class="p">,</span> <span class="n">frame</span><span class="p">)</span>
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<span class="n">Vision</span><span class="o">.</span><span class="n">Streaming</span><span class="o">.</span><span class="n">publish_frame</span><span class="p">(</span><span class="n">frame</span><span class="p">)</span>
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<span class="k">return</span> <span class="n">x</span><span class="p">,</span> <span class="n">y</span>
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<span class="c1"># Get the normalized center coordinates from the aruco tag</span>
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<span class="c1"># with the specified id</span>
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<span class="c1"># left is -1, right +1</span>
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<span class="c1"># bottom is -1, top +1</span>
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<span class="k">def</span> <span class="nf">getNormalizedTagPosition</span><span class="p">(</span><span class="nb">id</span><span class="p">):</span>
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<span class="n">frame</span> <span class="o">=</span> <span class="n">Vision</span><span class="o">.</span><span class="n">Streaming</span><span class="o">.</span><span class="n">get_frame</span><span class="p">()</span>
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<span class="n">frame</span><span class="p">,</span> <span class="n">x</span><span class="p">,</span> <span class="n">y</span> <span class="o">=</span> <span class="n">getTagCenterFromFrame</span><span class="p">(</span><span class="nb">id</span><span class="p">,</span> <span class="n">frame</span><span class="p">)</span>
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<span class="n">Vision</span><span class="o">.</span><span class="n">Streaming</span><span class="o">.</span><span class="n">publish_frame</span><span class="p">(</span><span class="n">frame</span><span class="p">)</span>
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<span class="k">if</span> <span class="n">x</span> <span class="ow">is</span> <span class="kc">None</span> <span class="ow">or</span> <span class="n">y</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
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<span class="k">return</span> <span class="kc">None</span><span class="p">,</span> <span class="kc">None</span>
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<span class="n">height</span><span class="p">,</span> <span class="n">width</span> <span class="o">=</span> <span class="n">frame</span><span class="o">.</span><span class="n">shape</span><span class="p">[:</span><span class="mi">2</span><span class="p">]</span>
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<span class="n">x</span> <span class="o">=</span> <span class="n">x</span> <span class="o">/</span> <span class="n">width</span> <span class="o">*</span> <span class="mf">2.0</span> <span class="o">-</span> <span class="mf">1.0</span>
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<span class="n">y</span> <span class="o">=</span> <span class="o">-</span><span class="p">(</span><span class="n">y</span> <span class="o">/</span> <span class="n">height</span> <span class="o">*</span> <span class="mf">2.0</span> <span class="o">-</span> <span class="mf">1.0</span><span class="p">)</span>
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<span class="k">return</span> <span class="n">x</span><span class="p">,</span> <span class="n">y</span>
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<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s1">'__main__'</span><span class="p">:</span>
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<span class="n">desiredID</span> <span class="o">=</span> <span class="mi">11</span>
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<span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
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<span class="n">x</span><span class="p">,</span> <span class="n">y</span> <span class="o">=</span> <span class="n">getNormalizedTagPosition</span><span class="p">(</span><span class="n">desiredID</span><span class="p">)</span>
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<span class="k">if</span> <span class="n">x</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
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<span class="nb">print</span><span class="p">(</span><span class="s2">"X Coordinate: "</span><span class="p">,</span> <span class="n">x</span><span class="p">)</span>
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<span class="k">else</span><span class="p">:</span>
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<span class="nb">print</span><span class="p">(</span><span class="s2">"Tag not found"</span><span class="p">)</span>
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</pre></div>
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</div>
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<p>This example shows how to recognize ArUco tags based on their id and position.
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You can specify an ID of the tag you want to use and if it’s found, the coordinates of the center are returned.
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With the normalized function this is very easy: The x-coordinate is -1 on the left, 1 on the right and 0 in the center of the screen, same for y.
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This way it is quite simple to act on the position of the tag.</p>
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