- use solvePnP for cam_pose_charuco_board

- added cam_pose_charuco_diamond
2025-11-24 21:25:11 +01:00
parent e4c57d64d1
commit 92f55249b9
2 changed files with 82 additions and 3 deletions
@@ -65,11 +65,11 @@ def process(detector: cv.aruco.CharucoDetector, board, img, mtx, dist):	# Load p
 		cv.aruco.drawDetectedCornersCharuco(img, charuco_corners, charuco_ids)

 		if len(charuco_ids) > 5:
-			pose, rvec, tvec = cv.aruco.estimatePoseCharucoBoard(charuco_corners, charuco_ids, board, mtx, dist, None, None)
-
+			obj_points, img_points = board.matchImagePoints(charuco_corners, charuco_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.drawFrameAxes(img, mtx, dist, rvec, tvec, 20)

 	cv.imshow('img', img)