jens/ocv_cam_pose
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

[cam_pose_charuco_board]

Browse Source 
- convert cam pose to board rotation
This commit is contained in:
jens
2025-11-26 14:10:11 +01:00
parent 3d92b17f95
commit 0aa7e0fedd
2 changed files with 28 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
cam_pose_charuco_board.py
+24 -14
View File
@@ -22,6 +22,15 @@ def rotation_matrix_to_euler_angles(R):
z = 0
return np.array([x, y, z])
def board_rotation(r_vec, t_vec):
r_mat = np.ndarray((3, 3))
cv.Rodrigues(r_vec, r_mat)
r_mat = np.hstack((r_mat, t_vec))
r_mat = np.vstack((r_mat, np.array([0, 0, 0, 1])))
r_mat = np.linalg.inv(r_mat)
res = rotation_matrix_to_euler_angles(r_mat[0:3, 0:3])
return res
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)
@@ -55,7 +64,7 @@ def main():
print("[INFO] start processing...")
process_video(detector, board)
def process_video(detector: cv.aruco.CharucoDetector, board):
def process_video(detector: cv.aruco.CharucoDetector, board: cv.aruco.CharucoBoard):
mtx = None
dist = None
obj_points_list = []
@@ -80,12 +89,11 @@ def process_video(detector: cv.aruco.CharucoDetector, board):
cap.set(cv.CAP_PROP_FPS, 60.0)
cap.set(cv.CAP_PROP_FRAME_WIDTH, 1280)
cap.set(cv.CAP_PROP_FRAME_HEIGHT, 1024)
cap.set(cv.CAP_PROP_EXPOSURE, 20)
cap.set(cv.CAP_PROP_EXPOSURE, 30)
cap.set(cv.CAP_PROP_AUTO_EXPOSURE, 1)
img_size = None
last_rotation = [0,0,0]
use_euler_angle = True
while True:
# Read a new frame
ok, img = cap.read()
@@ -109,16 +117,11 @@ def process_video(detector: cv.aruco.CharucoDetector, board):
img_points_list = []
else:
r_vec, t_vec = process(detector, board, img, mtx, dist, None, None)
if r_vec is not None:
if use_euler_angle:
r_mat = np.ndarray((3,3))
cv.Rodrigues(r_vec, r_mat)
res = rotation_matrix_to_euler_angles(r_mat)
else:
res = r_vec
if r_vec is not None and t_vec is not None:
res = board_rotation(r_vec, t_vec)
rot = [int(180.0 / math.pi * v) for v in res]
if rot != last_rotation or True:
print(f"Rotation X|Y|Z: {rot[0]:.1f} | {rot[1]:.1f} | {rot[2]:.1f}")
if rot != last_rotation:
print(f"Rotation Tilt: {rot[0]:.1f}, Roll: {rot[1]:.1f}, Azimuth: {rot[2]:.1f}")
last_rotation = rot
cv.imshow('img', img)
@@ -151,7 +154,7 @@ def calibrate_camera(img_size, obj_points_list, img_points_list, mtx, dist, rvec
return mtx, dist, rvecs, tvecs
def process(detector: cv.aruco.CharucoDetector, board: cv.aruco.Board, img, mtx, dist, rvecs=None, tvecs=None): # Load previously saved data
def process(detector: cv.aruco.CharucoDetector, board: cv.aruco.CharucoBoard, img, mtx, dist, rvecs=None, tvecs=None): # Load previously saved data
r_vec = None
t_vec = None
gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
@@ -164,10 +167,17 @@ def process(detector: cv.aruco.CharucoDetector, board: cv.aruco.Board, img, mtx,
# Draw a square around the markers
cv.aruco.drawDetectedMarkers(img, marker_corners)
# Draw an axis around the markers
rvecs, tvecs, _ = cv.aruco.estimatePoseSingleMarkers(marker_corners, markerLength=0.062, cameraMatrix=mtx, distCoeffs=dist)
for i in range(len(rvecs)):
cv.drawFrameAxes(img, mtx, dist, rvecs[i], tvecs[i],0.05)
if len(charuco_ids) >= len(board.getIds()):
obj_points, img_points = board.matchImagePoints(charuco_corners, charuco_ids)
offset = int(board.getMarkerLength() * board.getSquareLength())
obj_points -= [offset, offset, 0]
if mtx is not None and dist is not None:
pose, r_vec, t_vec = cv.solvePnP(obj_points, img_points, mtx, dist, rvec=rvecs, tvec=tvecs)
pose, r_vec, t_vec = cv.solvePnP(obj_points, img_points, mtx, dist, useExtrinsicGuess=False, rvec=rvecs, tvec=tvecs, flags=cv.SOLVEPNP_ITERATIVE)
if pose:
# Draw Axis
cv.drawFrameAxes(img, mtx, dist, r_vec, t_vec, 10)