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- aruco board: use solvePnP

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- refactored
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jens
2025-11-24 22:07:05 +01:00
parent 4431f3a574
commit 4c40a7e191
3 changed files with 21 additions and 18 deletions
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cam_pose_charuco_diamond.py
+15 -12
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@@ -58,22 +58,25 @@ def process_video(detector: cv.aruco.CharucoDetector, board):
if k == ord('q'):
break
def process(detector: cv.aruco.CharucoDetector, board, img, mtx, dist): # Load previously saved data
def process(detector: cv.aruco.CharucoDetector, board: cv.aruco.Board, img, mtx, dist): # Load previously saved data
gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
diamond_corners, diamond_ids, marker_corners, marker_ids = detector.detectDiamonds(gray)
# Draw a square around the markers
cv.aruco.drawDetectedMarkers(img, marker_corners)
if diamond_corners is not None:
# Draw a square around the markers
cv.aruco.drawDetectedDiamonds(img, diamond_corners, diamond_ids)
if diamond_ids is not None and len(diamond_ids) > 0:
obj_points, img_points = board.matchImagePoints(diamond_corners, diamond_ids)
pose, rvec, tvec = cv.solvePnP(obj_points, img_points, mtx, dist, None, None)
if pose:
# Draw Axis
cv.drawFrameAxes(img, mtx, dist, rvec, tvec, 10)
cv.aruco.drawDetectedCornersCharuco(img, diamond_corners, diamond_ids)
# Draw a square around the markers
cv.aruco.drawDetectedMarkers(img, marker_corners)
if len(diamond_ids) >= len(board.getIds()):
# Draw a square around the markers
cv.aruco.drawDetectedDiamonds(img, diamond_corners, diamond_ids)
if False and diamond_ids is not None and len(diamond_ids) > 0:
obj_points, img_points = board.matchImagePoints(diamond_corners, diamond_ids)
pose, rvec, tvec = cv.solvePnP(obj_points, img_points, mtx, dist, None, None)
if pose:
# Draw Axis
cv.drawFrameAxes(img, mtx, dist, rvec, tvec, 10)
cv.imshow('img', img)