marker.py

import cv2
import numpy as np
from rich import print

dewarped = cv2.imread('../dewarped.png')
'''
SIZE = 600

# Get ROI corners

arucoDict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_APRILTAG_36h11)
arucoParams = cv2.aruco.DetectorParameters_create()
(corners, ids, rejected) = cv2.aruco.detectMarkers(image, arucoDict, parameters=arucoParams)

assert len(corners) == len(ids) == 4

detected = [[ids[i], corners[i]] for i in range(4)]
detected.sort(key = lambda x: x[0])
print(detected)
bounding_box = [
    detected[0][1][0][2],
    detected[1][1][0][3],
    detected[2][1][0][0],
    detected[3][1][0][1]
]

img_boxed = image.copy()
cv2.polylines(img_boxed, np.int32([bounding_box]), True, (0, 255, 0), 2)
# cv2.imshow('Fiducial Detection', img_boxed)

# Dewarp
vertices = [
    [0, 0],
    [SIZE, 0],
    [SIZE, SIZE],
    [0, SIZE]
]
matrix = cv2.getPerspectiveTransform(np.float32(bounding_box), np.float32(vertices))
dewarped = cv2.warpPerspective(image, matrix, (SIZE, SIZE))
cv2.imwrite('dewarped.png', dewarped)
'''
cv2.imshow('Dewarped', dewarped)
# Marker selection
markers = []
def selectMarker(event, x, y, flags, param):
    global markers, dewarped
    if event == cv2.EVENT_LBUTTONDOWN:
        markers.append((x, y))
        print(f'Marker {len(markers)} selected at ({x}, {y})')
        dewarped = cv2.circle(dewarped, (x,y), radius=5, color=(0, 0, 255), thickness=-1)
        if len(markers) == 27:
            print('All 27 markers selected')
            print(markers)
        cv2.imshow('Dewarped', dewarped)

cv2.setMouseCallback('Dewarped', selectMarker)

cv2.waitKey()
cv2.destroyAllWindows()