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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_aruco_board.py
+4 -4
View File
@@ -58,7 +58,7 @@ def process_video(detector: cv.aruco.ArucoDetector, board):
if k == ord('q'): if k == ord('q'):
break break
def process(detector: cv.aruco.ArucoDetector, board, img, mtx, dist): # Load previously saved data def process(detector: cv.aruco.ArucoDetector, board: cv.aruco.Board, img, mtx, dist): # Load previously saved data
gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY) gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
(corners, ids, rejected) = detector.detectMarkers(gray) (corners, ids, rejected) = detector.detectMarkers(gray)
@@ -69,11 +69,11 @@ def process(detector: cv.aruco.ArucoDetector, board, img, mtx, dist): # Load pre
if len(corners) > 0: 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 rvec and tvec---(different from those of camera coefficients)
pose, rvec, tvec = cv.aruco.estimatePoseBoard(corners, ids, board, mtx, dist, None, None) obj_points, img_points = board.matchImagePoints(corners, ids)
pose, rvec, tvec = cv.solvePnP(obj_points, img_points, mtx, dist, None, None)
if pose: if pose:
# Draw Axis # Draw Axis
cv.drawFrameAxes(img, mtx, dist, rvec, tvec, 0.02) cv.drawFrameAxes(img, mtx, dist, rvec, tvec, 20)
cv.imshow('img', img) cv.imshow('img', img)
cam_pose_charuco_board.py
+2 -2
View File
@@ -57,7 +57,7 @@ def process_video(detector: cv.aruco.CharucoDetector, board):
if k == ord('q'): if k == ord('q'):
break 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) gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
charuco_corners, charuco_ids, marker_corners, marker_ids = detector.detectBoard(gray) charuco_corners, charuco_ids, marker_corners, marker_ids = detector.detectBoard(gray)
if charuco_corners is not None: if charuco_corners is not None:
@@ -68,7 +68,7 @@ def process(detector: cv.aruco.CharucoDetector, board, img, mtx, dist): # Load p
# Draw a square around the markers # Draw a square around the markers
cv.aruco.drawDetectedMarkers(img, marker_corners) cv.aruco.drawDetectedMarkers(img, marker_corners)
if len(charuco_ids) > 5: if len(charuco_ids) >= len(board.getIds()):
obj_points, img_points = board.matchImagePoints(charuco_corners, charuco_ids) obj_points, img_points = board.matchImagePoints(charuco_corners, charuco_ids)
pose, rvec, tvec = cv.solvePnP(obj_points, img_points, mtx, dist, None, None) pose, rvec, tvec = cv.solvePnP(obj_points, img_points, mtx, dist, None, None)
if pose: if pose:
cam_pose_charuco_diamond.py
+15 -12
View File
@@ -58,22 +58,25 @@ def process_video(detector: cv.aruco.CharucoDetector, board):
if k == ord('q'): if k == ord('q'):
break 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) gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
diamond_corners, diamond_ids, marker_corners, marker_ids = detector.detectDiamonds(gray) 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: if diamond_corners is not None:
# Draw a square around the markers # Draw a square around the markers
cv.aruco.drawDetectedDiamonds(img, diamond_corners, diamond_ids) cv.aruco.drawDetectedCornersCharuco(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) # Draw a square around the markers
pose, rvec, tvec = cv.solvePnP(obj_points, img_points, mtx, dist, None, None) cv.aruco.drawDetectedMarkers(img, marker_corners)
if pose:
# Draw Axis if len(diamond_ids) >= len(board.getIds()):
cv.drawFrameAxes(img, mtx, dist, rvec, tvec, 10) # 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) cv.imshow('img', img)