- added aruco_board (Zwischenstand)

- added Charuco board pose

cam_pose_aruco_board.py

@@ -0,0 +1,83 @@
+import sys
+import numpy as np
+import cv2 as cv
+import argparse
+from aruco_types import ARUCO_DICT
+
+def factory(aruco_type: int):
+	aruco_dict = cv.aruco.getPredefinedDictionary(aruco_type)
+	params = cv.aruco.DetectorParameters()
+	detector = cv.aruco.ArucoDetector(aruco_dict, params)
+
+	board = cv.aruco.GridBoard(size=(5, 7), markerLength=4, markerSeparation=2, dictionary=aruco_dict)
+	image = np.zeros((800,600), np.uint8)
+#	image = board.generateImage((800, 600), None, 0, 1)
+	cv.imwrite("results/aruco_board.png", image)
+	return detector, board
+
+def main():
+	# construct the argument parser and parse the arguments
+	ap = argparse.ArgumentParser()
+	ap.add_argument("-t", "--type", type=str,
+		default="DICT_ARUCO_ORIGINAL",
+		help="type of ArUCo tag to detect")
+	args = vars(ap.parse_args())
+
+	# verify that the supplied ArUCo tag exists and is supported by
+	# OpenCV
+	if ARUCO_DICT.get(args["type"], None) is None:
+		print("[INFO] ArUCo tag of '{}' is not supported".format(
+			args["type"]))
+		sys.exit(0)
+	# load the ArUCo dictionary, grab the ArUCo parameters, and detect
+	# the markers
+	print("[INFO] detecting '{}' tags...".format(args["type"]))
+	detector, board = factory(ARUCO_DICT[args["type"]])
+
+	# load the input image from disk and resize it
+	print("[INFO] start processing...")
+	process_video(detector, board)
+
+def process_video(detector: cv.aruco.ArucoDetector, board):
+	with np.load('results/cam.npz') as X:
+		mtx, dist, _, _ = [X[i] for i in ('mtx', 'dist', 'rvecs', 'tvecs')]
+
+	# Open camera
+	video = cv.VideoCapture(0)
+	if not video.isOpened():
+		print("Cannot open camera")
+		exit()
+
+	while True:
+		# Read a new frame
+		ok, img = video.read()
+		if not ok:
+			return
+		process(detector, board, img, mtx, dist)
+		k = cv.waitKey(1) & 0xFF
+		if k == ord('q'):
+			break
+
+def process(detector: cv.aruco.ArucoDetector, board, img, mtx, dist):	# Load previously saved data
+	gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
+	(corners, ids, rejected) = detector.detectMarkers(gray)
+
+	detector.refineDetectedMarkers(img, board, corners, ids, rejected, mtx, dist)
+
+	if len(corners) > 0:
+		# Estimate pose of each marker and return the values rvec and tvec---(different from those of camera coefficients)
+		pose, rvec, tvec = cv.aruco.estimatePoseBoard(corners, ids, board, mtx, dist, None, None)
+
+		if pose:
+			# Draw Axis
+			cv.drawFrameAxes(img, mtx, dist, rvec, tvec, 0.02)
+
+			# Draw a square around the markers
+			cv.aruco.drawDetectedMarkers(img, corners)
+
+	cv.imshow('img', img)
+
+
+if __name__ == '__main__':
+	main()
+	cv.destroyAllWindows()

cam_pose_charuco.py

@@ -0,0 +1,79 @@
+import sys
+import numpy as np
+import cv2 as cv
+import argparse
+from aruco_types import ARUCO_DICT
+
+def factory(dict_type: int, board_size: cv.typing.Size, square_length: float=5.0, marker_length: float=3.0):
+	aruco_dict = cv.aruco.getPredefinedDictionary(dict_type)
+	board = cv.aruco.CharucoBoard(board_size, square_length, marker_length, aruco_dict)
+	params = cv.aruco.CharucoParameters()
+	detector = cv.aruco.CharucoDetector(board, params)
+	image = board.generateImage((800, 600), None, 0, 1)
+	cv.imwrite("results/charuco_board.png", image)
+
+	return detector, board
+
+def main():
+	# construct the argument parser and parse the arguments
+	ap = argparse.ArgumentParser()
+	ap.add_argument("-t", "--type", type=str,
+		default="DICT_ARUCO_ORIGINAL",
+		help="type of ArUCo tag to detect")
+	args = vars(ap.parse_args())
+
+	# verify that the supplied ArUCo tag exists and is supported by
+	# OpenCV
+	if ARUCO_DICT.get(args["type"], None) is None:
+		print("[INFO] ArUCo tag of '{}' is not supported".format(
+			args["type"]))
+		sys.exit(0)
+	# load the ArUCo dictionary, grab the ArUCo parameters, and detect
+	# the markers
+	print("[INFO] detecting '{}' tags...".format(args["type"]))
+	detector, board = factory(ARUCO_DICT[args["type"]], (6,7))
+
+	# load the input image from disk and resize it
+	print("[INFO] start processing...")
+	process_video(detector, board)
+
+def process_video(detector: cv.aruco.CharucoDetector, board):
+	with np.load('results/cam.npz') as X:
+		mtx, dist, _, _ = [X[i] for i in ('mtx', 'dist', 'rvecs', 'tvecs')]
+
+	# Open camera
+	video = cv.VideoCapture(0)
+	if not video.isOpened():
+		print("Cannot open camera")
+		exit()
+
+	while True:
+		# Read a new frame
+		ok, img = video.read()
+		if not ok:
+			return
+		process(detector, board, img, mtx, dist)
+		k = cv.waitKey(1) & 0xFF
+		if k == ord('q'):
+			break
+
+def process(detector: cv.aruco.CharucoDetector, board, img, mtx, dist):	# Load previously saved data
+	gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
+	charuco_corners, charuco_ids, marker_corners, marker_ids = detector.detectBoard(gray)
+	if charuco_corners is not None:
+		# Draw a square around the markers
+		cv.aruco.drawDetectedCornersCharuco(img, charuco_corners, charuco_ids)
+
+		if len(charuco_ids) > 5:
+			pose, rvec, tvec = cv.aruco.estimatePoseCharucoBoard(charuco_corners, charuco_ids, board, mtx, dist, None, None)
+
+			if pose:
+				# Draw Axis
+				cv.drawFrameAxes(img, mtx, dist, rvec, tvec, 10)
+
+	cv.imshow('img', img)
+
+
+if __name__ == '__main__':
+	main()
+	cv.destroyAllWindows()