jens/ocv_cam_pose
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suppress deprecation warning

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jens
2025-11-25 18:20:46 +01:00
parent 7350c941cd
commit 0b88a47fa0
1 changed files with 8 additions and 3 deletions
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cam_pose_charuco_board.py
+8 -3
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@@ -3,6 +3,7 @@ import numpy as np
import cv2 as cv import cv2 as cv
import argparse import argparse
from aruco_types import ARUCO_DICT from aruco_types import ARUCO_DICT
import math
ENTRY = {'charuco_corners': [], 'charuco_ids': [], 'obj_points': [], 'img_points': []} ENTRY = {'charuco_corners': [], 'charuco_ids': [], 'obj_points': [], 'img_points': []}
CAM_CALIB_FILE = "results/cam_calib_charuco.npz" CAM_CALIB_FILE = "results/cam_calib_charuco.npz"
@@ -41,6 +42,7 @@ def main():
process_video(detector, board) process_video(detector, board)
def process_video(detector: cv.aruco.CharucoDetector, board): def process_video(detector: cv.aruco.CharucoDetector, board):
global ENTRY
mtx = None mtx = None
dist = None dist = None
rvecs = None rvecs = None
@@ -71,6 +73,8 @@ def process_video(detector: cv.aruco.CharucoDetector, board):
img_size = store_frame(detector, board, img) img_size = store_frame(detector, board, img)
elif k == ord('c'): elif k == ord('c'):
mtx, dist, _, _ = calibrate_camera(img_size, mtx, dist, None, None) mtx, dist, _, _ = calibrate_camera(img_size, mtx, dist, None, None)
elif k == ord('x'):
ENTRY = {'charuco_corners': [], 'charuco_ids': [], 'obj_points': [], 'img_points': []}
else: else:
process(detector, board, img, mtx, dist, rvecs, tvecs) process(detector, board, img, mtx, dist, rvecs, tvecs)
@@ -99,11 +103,10 @@ def store_frame(detector: cv.aruco.CharucoDetector, board: cv.aruco.Board, img):
return img_size return img_size
def calibrate_camera(img_size, mtx, dist, rvecs=None, tvecs=None): def calibrate_camera(img_size, mtx, dist, rvecs=None, tvecs=None):
global ENTRY
if len(ENTRY['obj_points']) > 0 and len(ENTRY['img_points']) > 0: if len(ENTRY['obj_points']) > 0 and len(ENTRY['img_points']) > 0:
ret, mtx, dist, rvecs, tvecs = cv.calibrateCamera(ENTRY['obj_points'], ENTRY['img_points'], img_size, mtx, dist, rvecs=rvecs, tvecs=tvecs) flags = cv.CALIB_USE_INTRINSIC_GUESS
ret, mtx, dist, rvecs, tvecs = cv.calibrateCamera(ENTRY['obj_points'], ENTRY['img_points'], img_size, mtx, dist, rvecs=rvecs, tvecs=tvecs, flags=flags)
np.savez(f"{CAM_CALIB_FILE}", mtx=mtx, dist=dist, rvecs=rvecs, tvecs=tvecs) np.savez(f"{CAM_CALIB_FILE}", mtx=mtx, dist=dist, rvecs=rvecs, tvecs=tvecs)
ENTRY = {'charuco_corners': [], 'charuco_ids': [], 'obj_points': [], 'img_points': []}
print(f"Camera calibration finished. Result = {ret}") print(f"Camera calibration finished. Result = {ret}")
return mtx, dist, rvecs, tvecs return mtx, dist, rvecs, tvecs
@@ -123,6 +126,8 @@ def process(detector: cv.aruco.CharucoDetector, board: cv.aruco.Board, img, mtx,
obj_points, img_points = board.matchImagePoints(charuco_corners, charuco_ids) obj_points, img_points = board.matchImagePoints(charuco_corners, charuco_ids)
if mtx is not None and dist is not None: if mtx is not None and dist is not None:
pose, rvec, tvec = cv.solvePnP(obj_points, img_points, mtx, dist, rvec=rvecs, tvec=tvecs) pose, rvec, tvec = cv.solvePnP(obj_points, img_points, mtx, dist, rvec=rvecs, tvec=tvecs)
rot = [float(180/math.pi*v) for v in rvec[:,0]]
print(f"Rotation X|Y|Z: {rot[0]:.1f} | {rot[1]:.1f} | {rot[2]:.1f}")
if pose: if pose:
# Draw Axis # Draw Axis
cv.drawFrameAxes(img, mtx, dist, rvec, tvec, 10) cv.drawFrameAxes(img, mtx, dist, rvec, tvec, 10)