- use solvePnP for cam_pose_charuco_board

- added cam_pose_charuco_diamond

cam_pose_charuco_board.py

@@ -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)
 

cam_pose_charuco_diamond.py

@@ -0,0 +1,79 @@
+import sys
+import numpy as np
+import cv2 as cv
+import argparse
+from aruco_types import ARUCO_DICT
+
+def factory(dict_type: int, square_length: float=200.0, marker_length: float=120.0, margin_length=10):
+	aruco_dict = cv.aruco.getPredefinedDictionary(dict_type)
+	board = cv.aruco.CharucoBoard((3,3), square_length, marker_length, aruco_dict)
+	params = cv.aruco.CharucoParameters()
+	detector = cv.aruco.CharucoDetector(board, params)
+	side_len = int(3.0*square_length + 2.0*margin_length)
+	image = board.generateImage((side_len, side_len), None, margin_length, 1)
+	cv.imwrite("results/charuco_diamond_board.png", image)
+
+	return detector, board
+
+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"]))
+	detector, board = factory(ARUCO_DICT[args["type"]])
+
+	# load the input image from disk and resize it
+	print("[INFO] start processing...")
+	process_video(detector, board)
+
+def process_video(detector: cv.aruco.CharucoDetector, board):
+	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(detector, board, img, mtx, dist)
+		k = cv.waitKey(1) & 0xFF
+		if k == ord('q'):
+			break
+
+def process(detector: cv.aruco.CharucoDetector, 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)
+	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.imshow('img', img)
+
+
+if __name__ == '__main__':
+	main()
+	cv.destroyAllWindows()