.. _examples_aruco/finder:

Example: aruco/finder.py
========================

.. code-block:: python

	# Copyright (c) 2024 Justin Davis (davisjustin302@gmail.com)
	#
	# MIT License
	"""Example showcasing how to use the ArucoFinder."""
	
	import cv2
	import depthai as dai
	from oakutils.aruco import ArucoFinder
	from oakutils.calibration import get_camera_calibration_basic
	from oakutils.nodes import create_color_camera, create_xout
	
	calibration = get_camera_calibration_basic()
	finder = ArucoFinder(cv2.aruco.DICT_4X4_100, 0.05, calibration.rgb)
	
	pipeline = dai.Pipeline()
	cam = create_color_camera(pipeline)
	xout_cam = create_xout(pipeline, cam.video, "rgb")
	
	with dai.Device(pipeline) as device:
	    cam_queue = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
	
	    while True:
	        in_rgb = cam_queue.get()
	        frame = in_rgb.getCvFrame()
	        markers = finder.find(frame)
	        for marker in markers:
	            print(marker)
	        cv2.imshow("frame", finder.draw(frame, markers))
	        if cv2.waitKey(1) == ord("q"):
	            break