suppress deprecation warning

cam_pose_charuco_board.py

@@ -3,6 +3,7 @@ import numpy as np
 import cv2 as cv
 import argparse
 from aruco_types import ARUCO_DICT
+import math
 
 ENTRY = {'charuco_corners': [], 'charuco_ids': [], 'obj_points': [], 'img_points': []}
 CAM_CALIB_FILE = "results/cam_calib_charuco.npz"
@@ -41,6 +42,7 @@ def main():
 	process_video(detector, board)
 
 def process_video(detector: cv.aruco.CharucoDetector, board):
+	global ENTRY
 	mtx = None
 	dist = None
 	rvecs = None
@@ -71,6 +73,8 @@ def process_video(detector: cv.aruco.CharucoDetector, board):
 			img_size = store_frame(detector, board, img)
 		elif k == ord('c'):
 			mtx, dist, _, _ = calibrate_camera(img_size, mtx, dist, None, None)
+		elif k == ord('x'):
+			ENTRY = {'charuco_corners': [], 'charuco_ids': [], 'obj_points': [], 'img_points': []}
 		else:
 			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
 
 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:
-		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)
-		ENTRY = {'charuco_corners': [], 'charuco_ids': [], 'obj_points': [], 'img_points': []}
 		print(f"Camera calibration finished. Result = {ret}")
 	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)
 			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)
+				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:
 					# Draw Axis
 					cv.drawFrameAxes(img, mtx, dist, rvec, tvec, 10)