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QR and Aruco scanner.py
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QR and Aruco scanner.py
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import numpy as np
import cv2
from cv2 import aruco
import math
from pyzbar import pyzbar
def detect_Qr_details(image):
Qr_codes_details = {}
key = []
value = []
for qrcode in pyzbar.decode(image):
codedata = qrcode.data.decode('utf-8')
data = codedata
points = (np.array([qrcode.polygon], np.int32))
count = len(codedata)
key.append(data)
for i in range(count):
decodedObjects = pyzbar.decode(image)
decodedObjects_0 = decodedObjects[i]
avg_x = int((int(decodedObjects_0.polygon[0][0]) + int(decodedObjects_0.polygon[1][0]) + int(decodedObjects_0.polygon[2][0]) + int(decodedObjects_0.polygon[3][0]))/4)
avg_y = int((int(decodedObjects_0.polygon[0][1]) + int(decodedObjects_0.polygon[1][1]) + int(decodedObjects_0.polygon[2][1]) + int(decodedObjects_0.polygon[3][1]))/4)
value.append([avg_x,avg_y])
Qr_codes_details = {}
for j in range(count):
Qr_codes_details[key[j]] = value[j]
return Qr_codes_details
def detect_ArUco_details(image):
ArUco_details_dict = {} #should be sorted in ascending order of ids
ArUco_corners = {}
center_coordinate = []
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
key = getattr(aruco,f'DICT_{5}X{5}_{250}')
arucoDict = aruco.Dictionary_get(key)
arucoParam = aruco.DetectorParameters_create()
bbox, ids,_ = aruco.detectMarkers(gray, arucoDict, parameters = arucoParam)
for t in range(len(ids)):
ct = []
for j in range(4):
ct.append([int(bbox[t][0][j][0]), int(bbox[t][0][j][1])])
ArUco_corners[ids[t][0]] = ct
for ar in range(len(ids)):
center_coordinate = []
PI = 3.14159265359
x = 0
y = 0
for t in range(4):
x = x + bbox[ar][0][t][0]
y = y + bbox[ar][0][t][1]
center_coordinate = [int(x/4), int(y/4)]
x_dist = center_coordinate[0] - bbox[ar][0][0][0]
y_dist = center_coordinate[1] - bbox[ar][0][0][1]
angle = ((math.atan2(x_dist , y_dist)) * 180 / PI) - 45
if(int(angle)< -180 or int(angle) > 180):
if(int(angle) < -180):
angle = angle + 360
else: angle = angle - 360
ArUco_details_dict[int(ids[ar][0])] = [center_coordinate, int(angle)]
return ArUco_details_dict, ArUco_corners
# marking the Qr code with center and message
def mark_Qr_image(image, Qr_codes_details):
for message, center in Qr_codes_details.items():
encrypted_message = message
x_center = int(center[0])
y_center = int(center[1])
cv2.circle(img, (x_center, y_center), 5, (0,0,255), -1)
cv2.putText(image,str(encrypted_message),(x_center + 20, y_center+ 20),cv2.FONT_HERSHEY_COMPLEX, 1, (255, 255, 0), 2)
return image
# marking the ArUco marker with the center, angle and corners
def mark_ArUco_image(image,ArUco_details_dict, ArUco_corners):
for ids, details in ArUco_details_dict.items():
center = details[0]
cv2.circle(image, center, 5, (0,0,255), -1)
corner = ArUco_corners[int(ids)]
cv2.circle(image, (int(corner[0][0]), int(corner[0][1])), 5, (50, 50, 50), -1)
cv2.circle(image, (int(corner[1][0]), int(corner[1][1])), 5, (0, 255, 0), -1)
cv2.circle(image, (int(corner[2][0]), int(corner[2][1])), 5, (128, 0, 255), -1)
cv2.circle(image, (int(corner[3][0]), int(corner[3][1])), 5, (255, 255, 255), -1)
tl_tr_center_x = int((corner[0][0] + corner[1][0]) / 2)
tl_tr_center_y = int((corner[0][1] + corner[1][1]) / 2)
cv2.line(image,center,(tl_tr_center_x, tl_tr_center_y),(255,0,0),5)
display_offset = (2*int(math.sqrt((tl_tr_center_x - center[0])**2+(tl_tr_center_y - center[1])**2)))
cv2.putText(image,str(ids),(center[0]+int(display_offset/2),center[1]),cv2.FONT_HERSHEY_COMPLEX, 1, (0, 0, 255), 2)
angle = details[1]
cv2.putText(image,str(angle),(center[0]-display_offset,center[1]),cv2.FONT_HERSHEY_COMPLEX, 1, (0, 255, 0), 2)
return image
if __name__ == "__main__":
# path directory of images in test_images folder
img_dir_path = "test_cases/"
# choose whether to test Qr or ArUco images
choice = input('\nWhich images do you want to test ? => "q" or "a": ')
if choice == 'q':
marker = 'qr'
else:
marker = 'aruco'
for file_num in range(0,2):
img_file_path = img_dir_path + marker + '_' + str(file_num) + '.png'
# read image using opencv
img = cv2.imread(img_file_path)
print('\n============================================')
print('\nFor '+ marker + str(file_num) + '.png')
# testing for Qr images
if choice == 'q':
Qr_codes_details = detect_Qr_details(img)
print("Detected details of Qr: " , Qr_codes_details)
# displaying the marked image
img = mark_Qr_image(img, Qr_codes_details)
cv2.imshow("img",img)
cv2.waitKey(0)
cv2.destroyAllWindows()
# testing for ArUco images
else:
ArUco_details_dict, ArUco_corners = detect_ArUco_details(img)
print("Detected details of ArUco: " , ArUco_details_dict)
#displaying the marked image
img = mark_ArUco_image(img, ArUco_details_dict, ArUco_corners)
cv2.imshow("img",img)
cv2.waitKey(0)
cv2.destroyAllWindows()