main-CLI.py

import cv2 as cv
from pupil_apriltags import Detector
import argparse
import logging
import os
import keyboard as kb

def get_args():
    # Note: defaults according to documentation
    # https://pupil-apriltags.readthedocs.io/en/stable/api.html
    parser = argparse.ArgumentParser()
    # Camera variables ===================================================
    parser.add_argument('--camera', type=int, default=0)
    # Detection variables ================================================
    parser.add_argument('--families', type=str, default='tag36h11')
    parser.add_argument('--nthreads', type=int, default=1)
    parser.add_argument('--quad_decimate', type=float, default=2.0)
    parser.add_argument('--quad_sigma', type=float, default=0.0)
    parser.add_argument('--refine_edges', type=int, default=1)
    parser.add_argument('--decode_sharpening', type=float, default=0.25)
    parser.add_argument('--debug', type=int, default=0)
    # FRC stage variables ================================================
    # The FRC stage has 8 total Apriltags, 0-7
    parser.add_argument('--tag_maxim', type=int, default=7)

    args = parser.parse_args()
    return args

def main():
    # Initialize variables
    args = get_args()
    # Create log file and setup logger
    if not os.path.exists('logs/'):
        os.mkdir('logs/')
    log_file_number = len(os.listdir('logs/'))
    logging.basicConfig(format='[%(asctime)s] [%(levelname)-8s] %(message)s',
                    level=logging.DEBUG,
                    handlers=[
                        logging.FileHandler(f'logs/debug{log_file_number}.log'),
                        logging.StreamHandler()
                    ])
    log = logging.getLogger()

    # Initialize Camera
    cam = cv.VideoCapture(args.camera)
    while cam is None or not cam.isOpened():
        log.critical('Camera not detected. Press space to check again.')
        kb.wait('space')


    # Argument adjustments
    args.families = 'tag16h5'
    args.quad_decimate = 0.0
    args.quad_sigma = 5.0

    # Airtag Detector
    tag_detector = Detector(
        families=args.families,
        nthreads=args.nthreads,
        quad_decimate=args.quad_decimate,
        quad_sigma=args.quad_sigma,
        refine_edges=args.refine_edges,
        decode_sharpening=args.decode_sharpening,
        debug=args.debug
    )

    while True:
        # Get camera data & convert to grayscale
        ret, image = cam.read()
        image = cv.cvtColor(image, cv.COLOR_BGR2GRAY)

        # Detect Apriltags & run logging function
        tags = tag_detector.detect(image)
        tag_logger(tags)

        # I have no idea if this works
        key = cv.waitKey(1)
        if key == 27: # esc key
            break
    cam.release()

def tag_logger(tags):
    args = get_args()
    log = logging.getLogger()
    for tag in tags:
        # Tag attributes
        id = tag.tag_id
        center = tag.center
        corners = tag.corners
        if id>args.tag_maxim: break
        
        log.info(f'\nid:{id}\ncenter:{center}\ncorners:\n{corners}\n')

if __name__ == '__main__':
    main()