From 589dfd970273ef0961506c39430223b1a243b2f8 Mon Sep 17 00:00:00 2001
From: Ackimixs <Ackimixs@protonmail.com>
Date: Wed, 13 Dec 2023 13:45:07 +0100
Subject: [PATCH] Create global_aruco

---
 global_aruco | 90 ++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 90 insertions(+)
 create mode 100644 global_aruco

diff --git a/global_aruco b/global_aruco
new file mode 100644
index 0000000..635c3ee
--- /dev/null
+++ b/global_aruco
@@ -0,0 +1,90 @@
+import cv2 as cv
+import cv2.aruco as aruco
+import numpy as np
+
+# Focal de la cam
+# Calculer la focal avec le fichier get_the_focal.py
+FOCAL_LENGTH = 600
+
+ARUCO_SIZE = 2.2
+
+# Charger une image depuis la caméra (0 pour la caméra par défaut, généralement la webcam)
+cap = cv.VideoCapture(0)
+
+# Définir le dictionnaire ArUco
+aruco_dict = aruco.getPredefinedDictionary(aruco.DICT_4X4_50)
+
+# Créer le détecteur ArUco
+parameters = aruco.DetectorParameters()
+
+#
+detector = aruco.ArucoDetector(aruco_dict, parameters)
+
+while True:
+
+    # Lire une image depuis la caméra
+    ret, frame = cap.read()
+
+    # Convertir l'image en niveaux de gris
+    gray = cv.cvtColor(frame, cv.COLOR_BGR2GRAY)
+
+    # Détecter les marqueurs ArUco
+    corners, ids, rejectedImgPoints = detector.detectMarkers(gray)
+
+    # Dessiner les résultats
+    if ids is not None:
+        aruco.drawDetectedMarkers(frame, corners, ids)
+
+        for i in range(len(ids)):
+
+            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]))
+
+                    center_x = int((topLeft[0] + topRight[0] + bottomRight[0] + bottomLeft[0]) / 4)
+                    center_y = int((topLeft[1] + topRight[1] + bottomRight[1] + bottomLeft[1]) / 4)
+
+                    # Calculate the apparent width in pixels
+                    P = np.sqrt((topRight[0] - topLeft[0]) ** 2 + (topRight[1] - topLeft[1]) ** 2)
+
+                    # Calculate the distance to the Aruco tag
+                    D = (ARUCO_SIZE * FOCAL_LENGTH) / P
+
+                    tag_position_x = (topRight[0] + topLeft[0]) / 2
+                    tag_position_y = (topRight[1] + bottomRight[1]) / 2
+
+                    image_width = frame.shape[1]
+                    image_height = frame.shape[0]
+
+                    # Calcul de l'angle horizontal par rapport au centre de l'image
+                    angle_to_tag_horizontal = np.arctan2(tag_position_x - (image_width / 2),
+                                                         image_width / (2 * np.tan(np.radians(60))))
+
+                    # Conversion de l'angle en degrés
+                    angle_to_tag_horizontal_deg = np.degrees(angle_to_tag_horizontal)
+
+                    # Affichage des informations
+                    distance_str = "{:.2f}".format(D)
+                    cv.putText(frame, f"Distance : {distance_str} cm", (topLeft[0], topLeft[1] - 30), cv.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
+                    angle_str = "{:.2f}".format(angle_to_tag_horizontal_deg)
+                    cv.putText(frame, f"Angle : {angle_str} degrees", (topLeft[0], topLeft[1] - 15), cv.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
+
+                    print(f"id : {markerID} : {angle_to_tag_horizontal_deg} degrees, {D} cm")
+    # Afficher l'image
+    cv.imshow('Frame', frame)
+
+    # Sortir de la boucle si la touche 'q' est enfoncée
+    if cv.waitKey(1) & 0xFF == ord('q'):
+        break
+
+# Libérer la capture et fermer la fenêtre
+cap.release()
+cv.destroyAllWindows()