From 9dd0832b16b734656121437c5c0cce3b8c738c8e Mon Sep 17 00:00:00 2001
From: leo <blavigna@insa-toulouse.fr>
Date: Thu, 8 Dec 2022 16:14:26 +0100
Subject: [PATCH] video.py final +/- pour lecture de code

---
 video.py | 81 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 81 insertions(+)
 create mode 100644 video.py

diff --git a/video.py b/video.py
new file mode 100644
index 0000000..bc66b4c
--- /dev/null
+++ b/video.py
@@ -0,0 +1,81 @@
+from imutils.video import VideoStream
+import argparse
+import imutils
+import time
+import cv2
+import sys
+import numpy
+
+ARUCO_DICT = {
+	"DICT_4X4_50": cv2.aruco.DICT_4X4_50,
+	"DICT_4X4_100": cv2.aruco.DICT_4X4_100,
+	"DICT_4X4_250": cv2.aruco.DICT_4X4_250,
+	"DICT_4X4_1000": cv2.aruco.DICT_4X4_1000,
+	"DICT_5X5_50": cv2.aruco.DICT_5X5_50,
+	"DICT_5X5_100": cv2.aruco.DICT_5X5_100,
+	"DICT_5X5_250": cv2.aruco.DICT_5X5_250,
+	"DICT_5X5_1000": cv2.aruco.DICT_5X5_1000,
+	"DICT_6X6_50": cv2.aruco.DICT_6X6_50,
+	"DICT_6X6_100": cv2.aruco.DICT_6X6_100,
+	"DICT_6X6_250": cv2.aruco.DICT_6X6_250,
+	"DICT_6X6_1000": cv2.aruco.DICT_6X6_1000,
+	"DICT_7X7_50": cv2.aruco.DICT_7X7_50,
+	"DICT_7X7_100": cv2.aruco.DICT_7X7_100,
+	"DICT_7X7_250": cv2.aruco.DICT_7X7_250,
+	"DICT_7X7_1000": cv2.aruco.DICT_7X7_1000,
+	"DICT_ARUCO_ORIGINAL": cv2.aruco.DICT_ARUCO_ORIGINAL,
+	"DICT_APRILTAG_16h5": cv2.aruco.DICT_APRILTAG_16h5,
+	"DICT_APRILTAG_25h9": cv2.aruco.DICT_APRILTAG_25h9,
+	"DICT_APRILTAG_36h10": cv2.aruco.DICT_APRILTAG_36h10,
+	"DICT_APRILTAG_36h11": cv2.aruco.DICT_APRILTAG_36h11
+}
+
+cap = cv2.VideoCapture(0)
+aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_ARUCO_ORIGINAL)
+aruco_params = cv2.aruco.DetectorParameters_create()
+if (cap.isOpened() == False):
+    raise("error opening video input")
+
+while cap.isOpened() == True:
+    ret, frame = cap.read()
+
+    if ret == True:
+        
+        frame = imutils.resize(frame, width=1000)
+        (corners, ids, rejected) = cv2.aruco.detectMarkers(frame,aruco_dict, parameters=aruco_params)
+        if len(corners) > 0:
+            ids = ids.flatten()
+            for (markerCorner, markerID) in zip(corners, ids):
+                corners = markerCorner.reshape((4, 2))
+                (topLeft, topRight, bottomRight, bottomLeft) = corners
+
+                topRight = (int(topRight[0]), int(topRight[1]))
+                bottomRight = (int(bottomRight[0]), int(bottomRight[1]))
+                bottomLeft = (int(bottomLeft[0]), int(bottomLeft[1]))
+                topLeft = (int(topLeft[0]), int(topLeft[1]))
+                cv2.line(frame, topLeft, topRight, (0, 255, 0), 2)
+                cv2.line(frame, topRight, bottomRight, (0, 255, 0), 2)
+                cv2.line(frame, bottomRight, bottomLeft, (0, 255, 0), 2)
+                cv2.line(frame, bottomLeft, topLeft, (0, 255, 0), 2)
+
+                cX = int((topLeft[0] + bottomRight[0]) / 2.0)
+                cY = int((topLeft[1] + bottomRight[1]) / 2.0)
+                cv2.circle(frame, (cX, cY), 4, (0, 0, 255), -1)
+
+                cv2.putText(frame, str(markerID),
+				(topLeft[0], topLeft[1] - 15),
+				cv2.FONT_HERSHEY_SIMPLEX,
+				0.5, (0, 255, 0), 2)
+
+            cv2.imshow("Frame", frame)
+
+        
+        cv2.imshow('Frame',frame)
+        if cv2.waitKey(25) & 0XFF == ord('q'):
+            break
+    else:
+        break
+
+cap.release()
+cv2.destroyAllWindows()
+