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October 19, 2022 16:26
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I created this script to use python and the pillow lib to increase the size of apriltags, I believe it's easier to adapt than a postscript. You need to change the data in the variables area for desired family and tag, put this in root of the cloned apriltags-imgs repository.
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| # ======================================= IMPORTS ====================================# | |
| ''' | |
| pip install Pillow | |
| pip install numpy | |
| ''' | |
| from PIL import Image, ImageDraw, ImageFont | |
| import glob | |
| import numpy as np | |
| # ======================================= VARIABLES ====================================# | |
| # Dots per inch - Printer parameters | |
| dpi = 300 | |
| # Image size disired in mm | |
| resize_mm = 150 # In millimetrs | |
| # Need a Apriltag wiht this values in folder | |
| tagFamily = 'tagStandard41h12' # Must be same name that folder | |
| tagID = '112' | |
| # ======================================= CONVERSIONS ====================================# | |
| ''' | |
| The general formula to convert a number of pixels in millimeters: | |
| DPI - dots per inch | |
| 25.4 is simply the amount of millimeters in an inch | |
| decimal_mm = (pixels * 25.4) / dpi | |
| or | |
| pixels = (decimal_mm * dpi) / 25.4 | |
| ''' | |
| # (width, height) - A4 size 297 x 210 mm | |
| # Convert paper A4 dimension to based DPI | |
| a4_size = (int(np.around((210 * dpi)/25.4)) , int(np.around((297 * dpi)/25.4))) | |
| # Desired apriltag size to pixel based on dpi | |
| size_to_pixels = int(np.around((resize_mm * dpi)/25.4)) | |
| # ======================================= CREATE A4 BACKGROUND ====================================# | |
| # A4 size - (width, height) in pixels based on DPI. | |
| # Create a black page with A4 dimension | |
| a4im = Image.new('RGB', | |
| (a4_size[0],a4_size[1]), # A4 at 300dpi | |
| (255, 255, 255)) # White | |
| print('Creating a empty white A4 page') | |
| # ======================================= LOAD AND RESIZE IMAGE ====================================# | |
| path = f"{tagFamily}\\*{tagID}.png" | |
| # Opens a image in RGB mode | |
| for filename in glob.glob(path): | |
| im = Image.open(filename) | |
| print(f'Founded ID: {tagID} Family: {tagFamily} in folder') | |
| # Upscale the apriltag without interpolation | |
| im = im.resize((size_to_pixels,size_to_pixels),Image.NEAREST) # Need the Image.NEAREST to remove blur | |
| # im.size (width, height) | |
| # Background size | |
| # a4im.size (width, height) | |
| offset_tag = ((a4im.size[0] - im.size[0]) // 2, (a4im.size[1] - im.size[1]) // 2) # To center the tag | |
| print(f'Apriltag resized to: {resize_mm} mm') | |
| # Fill the empty a4 page with a apriltag | |
| a4im.paste(im, offset_tag) # centered by offset | |
| #a4im.paste(im, im.getbbox()) # Not centered, top-left corner | |
| print(f'Apriltag added to A4 page') | |
| # ======================================= LABELING PAGE ====================================# | |
| draw = ImageDraw.Draw(a4im) | |
| fnt = ImageFont.truetype('arial',100) # FontType and FontSize | |
| text = f'ID: {tagID}\nFamily: {tagFamily}\nSize: {resize_mm} mm' | |
| offset_text = (im.size[0]/4, ((a4im.size[1] - im.size[1]) / 2) + im.size[1] + 100 ) # Labeling location, need a better aproach | |
| draw.text(offset_text, text, (0,0,0),font=fnt) | |
| # ======================================= EXPORTING PDF ====================================# | |
| outputfile = f'{tagFamily}_{tagID}.pdf' | |
| a4im.save(outputfile, 'PDF', quality=100) | |
| print(f'PDF sucessful saved -- {outputfile}') |
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