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mul.py
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import numpy as np
from moms_apriltag import TagGenerator3, TagGenerator2
from fpdf import FPDF
from PIL import Image
page_size_t = "A4"
tag_name_t = "tag36h10"
marker_size_t = 50 # unit:mm
pad_size_t = 5 # unit:mm
# id_list_t = [[1, 3, 3], [6, 5, 6]]
id_list_t = "[[1, 2,4, 3], [4, 5, 3,6]]"
def Apriltag_gen(page_size, tag_name, marker_size, pad_size, id_list):
# 首先将字符串按照 '], [' 进行拆分，得到每一行的字符串
rows_str = id_list.strip('[]').split('], [')
# 对每一行的字符串进行处理，得到该行的二维数组
arr = []
for row_str in rows_str:
# 将该行的字符串按照逗号拆分，得到该行的元素列表
elements_str = row_str.split(',')
# 将每个元素从字符串类型转换为整型，并添加到该行的二维数组中
row = []
for elem_str in elements_str:
row.append(int(elem_str))
# 将该行的二维数组添加到最终的二维数组中
arr.append(row)
id_list = arr
tag_sizes = {
"tag16h5": 6,
"tag25h9": 7,
"tag36h10": 8,
"tag36h11": 8,
"tagCircle21h7": 9,
"tagCircle49h12": 11,
"tagCustom48h12": 10,
"tagStandard41h12": 9,
"tagStandard52h13": 10,
}
if tag_sizes[tag_name] <= 8:
tg = TagGenerator2(tag_name)
else:
tg = TagGenerator3(tag_name)
dpi_set = 1000
px = int(marker_size * dpi_set / (24.5*int(tag_sizes[tag_name])))
pad = int(pad_size * dpi_set / 24.5)
imgs = []
for row in id_list:
for tag_id in row:
im = tg.generate(tag_id, px)
im = np.pad(im, pad, mode="constant", constant_values=255)
imgs.append(im)
img = np.concatenate(imgs, axis=1)
#pad_height = int(188 * dpi_set / 24.5)
#img = np.pad(img, ((pad_height, 0), (0, 0)), mode="constant", constant_values=255)
# 将数组横向切成id_list块
img = np.split(img, len(id_list), axis=1)
# 竖向拼接所有子数组
result = np.concatenate(img, axis=0)
# result = result[pad_height:, :]
# # # # # # # # result = np.pad(result, pad, mode="constant", constant_values=255)
result = np.pad(result, 1, mode="constant", constant_values=0)
image = Image.fromarray(result.astype('uint8'))
image.save('result.png', dpi=(dpi_set, dpi_set))
# print("Gen Apriltag")
# *************** Output PDF ***************
# 获取图像的尺寸和 DPI
width, height = image.size
dpi = image.info.get('dpi', dpi_set)
# 将像素转换为毫米
width_mm = width*24.5/dpi
height_mm = height*24.5/dpi
pdf = FPDF('P', 'mm', page_size) # p/l A3/A4/A5
pdf.add_page()
img_width = width *24.5/dpi
img_height = height *24.5/dpi
pdf.image('result.png', x=210 / 2 - width_mm / 2, y=297 / 2 - height_mm / 2, w=img_width ,h=img_height)
pdf.output("result.pdf", "F")
# print("Gen pdf")
if __name__ == '__main__':
Apriltag_gen(page_size_t, tag_name_t, marker_size_t, pad_size_t, id_list_t)