jens/ocv_cam_pose
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fixed typo

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jens
2025-11-28 14:40:26 +01:00
parent 3ac10cf0aa
commit 1bb50b9270
1 changed files with 8 additions and 7 deletions
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cam_pose_aruco_board.py
+8 -7
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@@ -59,7 +59,7 @@ def process_video(detector: cv.aruco.ArucoDetector, board):
if k == ord('q'):
break
def process(detector: cv.aruco.ArucoDetector, board: cv.aruco.GridBoard, img, mtx, dist, rvecs=None, tvecs=None, draw_marker_box=True, draw_marker_id=False, draw_marker_axis=True): # Load previously saved data
def process(detector: cv.aruco.ArucoDetector, board: cv.aruco.GridBoard, img, mtx, dist, r_vecs=None, t_vecs=None, draw_marker_box=True, draw_marker_id=False, draw_marker_axis=True):
gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
(corners, ids, rejected) = detector.detectMarkers(gray)
@@ -73,17 +73,18 @@ def process(detector: cv.aruco.ArucoDetector, board: cv.aruco.GridBoard, img, mt
# Draw marker axis
if draw_marker_axis:
_rvecs, _tvecs, _ = cv.aruco.estimatePoseSingleMarkers(corners, markerLength=0.1, cameraMatrix=mtx, distCoeffs=dist)
for i in range(len(_rvecs)):
cv.drawFrameAxes(img, mtx, dist, _rvecs[i], _tvecs[i], 0.05)
_r_vecs, _t_vecs, _ = cv.aruco.estimatePoseSingleMarkers(corners, markerLength=0.1, cameraMatrix=mtx, distCoeffs=dist)
if _r_vecs is not None:
for i in range(len(_r_vecs)):
cv.drawFrameAxes(img, mtx, dist, _r_vecs[i], _t_vecs[i], 0.05)
if len(corners) > 0:
# Estimate pose of each marker and return the values rvec and tvec---(different from those of camera coefficients)
# Estimate pose of each marker and return the values r_vec and t_vec---(different from those of camera coefficients)
obj_points, img_points = board.matchImagePoints(corners, ids)
pose, rvec, tvec = cv.solvePnP(obj_points, img_points, mtx, dist, rvecs, tvecs)
pose, r_vec, t_vec = cv.solvePnP(obj_points, img_points, mtx, dist, r_vecs, t_vecs)
if pose:
# Draw Axis
cv.drawFrameAxes(img, mtx, dist, rvec, tvec, board.getMarkerLength()*1.5)
cv.drawFrameAxes(img, mtx, dist, r_vec, t_vec, board.getMarkerLength()*1.5)
cv.imshow('img', img)