From 41bfff1d6b32349df6a9c30615f2247facab3185 Mon Sep 17 00:00:00 2001
From: Jens Ahrensfeld <jens@jayfield.org>
Date: Mon, 24 Nov 2025 15:25:52 +0100
Subject: [PATCH] added cam_pose_aruco

---
 cam_pose_aruco.py | 78 +++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 78 insertions(+)
 create mode 100644 cam_pose_aruco.py

diff --git a/cam_pose_aruco.py b/cam_pose_aruco.py
new file mode 100644
index 0000000..8ef54a5
--- /dev/null
+++ b/cam_pose_aruco.py
@@ -0,0 +1,78 @@
+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)
+	aruco_params = cv.aruco.DetectorParameters()
+	aruco_detector = cv.aruco.ArucoDetector(aruco_dict, aruco_params)
+
+	return aruco_detector
+
+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"]))
+	aruco_detector = factory(ARUCO_DICT[args["type"]])
+
+	# load the input image from disk and resize it
+	print("[INFO] start processing...")
+	process_video(aruco_detector)
+
+def process_video(aruco_detector: cv.aruco.ArucoDetector):
+	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(aruco_detector, img, mtx, dist)
+		k = cv.waitKey(1) & 0xFF
+		if k == ord('q'):
+			break
+
+def process(aruco_detector: cv.aruco.ArucoDetector, img, mtx, dist):	# Load previously saved data
+	gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
+	(corners, ids, rejected) = aruco_detector.detectMarkers(gray)
+
+	if len(corners) > 0:
+		# If markers are detected
+		for i in range(0, len(ids)):
+			# Estimate pose of each marker and return the values rvec and tvec---(different from those of camera coefficients)
+			rvec, tvec, _ = cv.aruco.estimatePoseSingleMarkers(corners[i], 0.033, mtx, dist)
+
+			# 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()