modularity approach added

ArucoGeneration.py

@@ -4,45 +4,49 @@
 import cv2
 import numpy as np
 
-# Define marker size and dictionary
-aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250)
-# It allows for a maximum of 250 markers. The 6x6 refers to the size of the individual markers in terms of bits.
-
-marker_size = 200
-# Aruco marker size of 200 pixel
-
-# Create an image to draw the ArUco markers
-image_size = 800
-image = np.ones((image_size, image_size, 3), dtype=np.uint8) * 255
-# 3 represents three color channel BGR
-# Setting all pixel values to 255 results in white color
-
-positions = {
-    0: (100, 100),
-    1: (image_size - 100, 100),
-    2: (image_size - 100, image_size - 100),
-    3: (100, image_size - 100),
-    4: (200, 200),
-    5: (600, 600),
-    6: (300, 300),
-    7: (400, 400),
-    8: (500, 300),
-    9: (300, 500),
-    10: (600, 200),
-    11: (200, 600),
-    # marker_id: position includes (x,y) coordinates
-}
-
-for marker_id, position in positions.items():
-    marker_image = cv2.aruco.drawMarker(aruco_dict, marker_id, marker_size)
-    # x, y = position
+def aruco_marker_generator(marker_id, marker_size):
 
-    # Ensure marker fits within canvas boundaries
-    # Assign the marker to the corresponding section in the image
-    image = cv2.cvtColor(marker_image, cv2.COLOR_GRAY2BGR)
-    cv2.imwrite("images/Aurco/Aurco_{}.png".format(str(marker_id)), image)
-    cv2.imshow(str(marker_id), image)
+    # Define marker size and dictionary
+    # It allows for a maximum of 250 markers. The 6x6 refers to the size of the individual markers in terms of bits.
+    aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250)
 
-# Display the generated ArUco markers
-cv2.waitKey(0)
-cv2.destroyAllWindows()
+    # Generate aruco marker
+    marker_image = cv2.aruco.drawMarker(aruco_dict, marker_id, marker_size)
+    # Assign the marker to the corresponding section in the image
+    marker_image = cv2.cvtColor(marker_image, cv2.COLOR_GRAY2BGR)
+    return marker_image
+
+if __name__== "__main__" :
+    marker_size = 200
+    # Aruco marker size of 200 pixel
+
+    # Create an image to draw the ArUco markers
+    image_size = 800
+    image = np.ones((image_size, image_size, 3), dtype=np.uint8) * 255
+    # 3 represents three color channel BGR
+    # Setting all pixel values to 255 results in white color
+
+    positions = {
+        0: (100, 100),
+        1: (image_size - 100, 100),
+        2: (image_size - 100, image_size - 100),
+        3: (100, image_size - 100),
+        4: (200, 200),
+        5: (600, 600),
+        6: (300, 300),
+        7: (400, 400),
+        8: (500, 300),
+        9: (300, 500),
+        10: (600, 200),
+        11: (200, 600),
+        # marker_id: position includes (x,y) coordinates
+    }
+
+    for marker_id, position in positions.items():
+        marker_iamge = aruco_marker_generator(marker_id, marker_size)
+        cv2.imwrite("images/Aurco/Aurco_{}.png".format(str(marker_id)), marker_iamge)
+        cv2.imshow(str(marker_id), marker_iamge)
+
+    # Display the generated ArUco markers
+    cv2.waitKey(0)
+    cv2.destroyAllWindows()

Board_Placement.py

@@ -1,5 +1,6 @@
 import cv2
 import numpy as np
+from ArucoGeneration import aruco_marker_generator
 
 # Create an image to place ArUco markers
 aurco_size = 50 # also equals grid size in px
@@ -9,12 +10,7 @@
 canvas = np.ones((image_size, image_size, 3), dtype=np.uint8) * 255
 # canvas size of 1100*1100 px
 
-# Aruco marker generation
-def generate_aruco_image(marker_id, marker_size=50):
-    aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250)
-    marker_image = cv2.aruco.drawMarker(aruco_dict, marker_id, marker_size)
-    marker_image_bgr = cv2.cvtColor(marker_image, cv2.COLOR_GRAY2BGR)
-    return marker_image_bgr
+
 
 # Positions for markers 0-3 from top-left to bottom-right corners and waste collection 4 & 5
 positions = {
@@ -28,7 +24,8 @@ def generate_aruco_image(marker_id, marker_size=50):
 
 # Generate markers with IDs 0-5 and place them on the canvas
 for marker_id, position in positions.items():
-    marker = generate_aruco_image(marker_id)
+    # Aruco marker generation
+    marker =  aruco_marker_generator(marker_id, marker_size=50)
     x, y = position
     canvas[y:y + 50, x:x + 50] = marker
 
@@ -55,7 +52,7 @@ def generate_aruco_image(marker_id, marker_size=50):
 # Generate markers with IDs 6 - 9 and place them in playable grid
 for marker_id, positions_list in positions_bot_waste_y.items():
     for position in positions_list:
-        marker = generate_aruco_image(marker_id)
+        marker = aruco_marker_generator(marker_id ,marker_size=50)
         x, y = position
         canvas[y:y + aurco_size, x:x + aurco_size] = marker