add python exampleArucoDetector

examples/python/exampleArucoDetector.py

@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+
+import yarp
+import roboticslab_vision
+
+detectorOptions = yarp.Property()
+detectorOptions.put("device", "ArucoDetector")
+detectorDevice = yarp.PolyDriver(detectorOptions)
+
+if not detectorDevice.isValid():
+    print("Device not available")
+    raise SystemExit
+
+iDetector = roboticslab_vision.viewIDetector(detectorDevice)
+
+rf = yarp.ResourceFinder()
+rf.setDefaultContext("ArucoDetector")
+arucoFullName = rf.findFileByName("tests/rdaruco.png")
+yarpImgRgb = yarp.ImageRgb()
+
+if not yarp.read(yarpImgRgb, arucoFullName, yarp.FORMAT_PNG):
+    print("Image file not available")
+    raise SystemExit
+
+print("detect()")
+detectedObjects = yarp.Bottle()
+
+if not iDetector.detect(yarpImgRgb, detectedObjects):
+    print("Detector failed")
+    raise SystemExit
+
+for i in range(detectedObjects.size()):
+    tlX = detectedObjects.get(i).asDict().find("tlx").asFloat32()
+    tlY = detectedObjects.get(i).asDict().find("tly").asFloat32()
+    trX = detectedObjects.get(i).asDict().find("trx").asFloat32()
+    trY = detectedObjects.get(i).asDict().find("try").asFloat32()
+    brX = detectedObjects.get(i).asDict().find("brx").asFloat32()
+    brY = detectedObjects.get(i).asDict().find("bry").asFloat32()
+    blX = detectedObjects.get(i).asDict().find("blx").asFloat32()
+    blY = detectedObjects.get(i).asDict().find("bly").asFloat32()
+    text = detectedObjects.get(i).asDict().find("text").asInt32()
+
+    print("aruco%d [[%f,%f],[%f,%f],[%f,%f],[%f,%f]]: \"%d\"" % (i, tlX, tlY, trX, trY, brX, brY, blX, blY, text))