"""Large 8x8 ArUco board for pointcloud alignment configuration."""
import numpy as np
import cv2
from cv2 import aruco
from .exoskeleton import BLENDER_STL_DIR, SO100_MODEL_DIR, BOARD_IMG_DIR
# Large 8x8 ArUco board for alignment
aruco_dict = aruco.getPredefinedDictionary(aruco.DICT_6X6_250)
n_aruco_row, n_aruco_col = 6, 6
x = (4.75 * 2) / ((n_aruco_row + (n_aruco_row - 1) / 10) * 100)
board_ids_alignment = np.arange(181, 181 + 36, dtype=np.int32).reshape(-1, 1) # IDs 181-216 (36 markers)
alignment_board = aruco.GridBoard( size=(n_aruco_row, n_aruco_col), markerLength=x, markerSeparation=x/10, dictionary=aruco_dict, ids=board_ids_alignment)
board_length=0.095
if 0: # Generate image for alignment board
from PIL import Image
marker = alignment_board.generateImage((800, 800))
marker_path = "robot_models/board_imgs/alignment_board.png"
cv2.imwrite(marker_path, marker)
img = Image.open(marker_path)
width_px, height_px = img.size
board_length_in = board_length / 0.0254
dpi = int(round(width_px / board_length_in))
img.save(marker_path, dpi=(dpi, dpi))
class AlignmentBoardConfig:
"""Configuration for large 8x8 ArUco alignment board."""
name = "Alignment_Board"
# ArUco configuration
aruco_board = alignment_board
aruco_offset_pos = np.array([0, 0, 0]) # Center of the plane
aruco_offset_rot = np.array([0, 0, 0]) # Flat on table (rotate to face up)
board_length = board_length
@classmethod
def get_xml_addition(cls) -> str:
"""Get XML snippet to add alignment board to scene."""
return f"""
"""
# Convenience instance
ALIGNMENT_BOARD_CONFIG = AlignmentBoardConfig()