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58 lines
1.6 KiB
Python
Executable File
58 lines
1.6 KiB
Python
Executable File
#!/usr/bin/env python
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# Copyright (C) 2018 Copter Express Technologies
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#
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# Author: Oleg Kalachev <okalachev@gmail.com>
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#
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# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
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# The above copyright notice and this permission notice shall be included in all
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# copies or substantial portions of the Software.
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"""Markers map generator
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Generate map file for aruco_map nodelet.
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Usage:
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genmap.py <length> <x> <y> <dist_x> <dist_y> <first> [--top-left | --bottom-left]
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genmap.py (-h | --help)
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Options:
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<length> Marker side length
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<x> Marker count along X axis
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<y> Marker count along Y axis
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<dist_x> Distance between markers along X axis
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<dist_y> Distance between markers along Y axis
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<first> First marker ID
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--top-left First marker is on top-left (default)
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--bottom-left First marker is on bottom-left
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Example:
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rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > $(catkin_find aruco_pose map)/test_map.txt
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"""
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from __future__ import print_function
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from docopt import docopt
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arguments = docopt(__doc__)
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length = float(arguments['<length>'])
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first = int(arguments['<first>'])
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markers_x = int(arguments['<x>'])
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markers_y = int(arguments['<y>'])
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dist_x = float(arguments['<dist_x>'])
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dist_y = float(arguments['<dist_y>'])
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bottom_left = arguments['--bottom-left']
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max_y = (markers_y - 1) * dist_y
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for y in range(markers_y):
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for x in range(markers_x):
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pos_x = x * dist_x
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pos_y = y * dist_y
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if not bottom_left:
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pos_y = max_y - pos_y
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print('{}\t{}\t{}\t{}\t{}\t{}\t{}\t{}\t'.format(first, length, pos_x, pos_y, 0, 0, 0, 0))
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first += 1
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