jens/ocv_cam_pose
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- fixed filename

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- refacored
This commit is contained in:
jens
2025-11-28 15:33:06 +01:00
parent d367eadc2c
commit d78f98a54c
2 changed files with 5 additions and 7 deletions
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ar_tag_pose.py
-1
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@@ -69,7 +69,6 @@ class ArTagPose(abc.ABC):
print("Cannot open camera") print("Cannot open camera")
exit() exit()
self.calibrate_load()
cal_img_size = None cal_img_size = None
last_rotation = [0, 0, 0] last_rotation = [0, 0, 0]
while True: while True:
ar_tag_pose_charuco_board.py
+5 -6
View File
@@ -14,14 +14,15 @@ def factory(dict_type: int, board_size: cv.typing.Size, square_length: float = 5
detector = cv.aruco.CharucoDetector(board, params) detector = cv.aruco.CharucoDetector(board, params)
image = board.generateImage((im_w, im_h), None, margin_length, 1) image = board.generateImage((im_w, im_h), None, margin_length, 1)
keyname = [key for key, val in ARUCO_DICT.items() if val == dict_type][0] keyname = [key for key, val in ARUCO_DICT.items() if val == dict_type][0]
cv.imwrite(f"results/aruco_board_w{board_size[0]}_h{board_size[1]}_{keyname}.png", image) cv.imwrite(f"results/charuco_board_w{board_size[0]}_h{board_size[1]}_{keyname}.png", image)
return detector, board return detector, board
class ArTagPoseCharucoBoard(ArTagPose): class ArTagPoseCharucoBoard(ArTagPose):
def __init__(self, dict_type: int, board_size: tuple[int, int]): def __init__(self, dict_type: int, board_size: tuple[int, int]):
ArTagPose.__init__(self)
self.board_size = board_size self.board_size = board_size
self.calib_filename = f"results/cam_calib_aruco_board_w{board_size[0]}_h{board_size[1]}.npz" self.calib_filename = f"results/cam_calib_charuco_board_w{board_size[0]}_h{board_size[1]}.npz"
self.detector, self.board = factory(dict_type, board_size) self.detector, self.board = factory(dict_type, board_size)
def calibrate_save(self): def calibrate_save(self):
@@ -58,8 +59,6 @@ class ArTagPoseCharucoBoard(ArTagPose):
pose = False pose = False
r_vec = None r_vec = None
t_vec = None t_vec = None
if not self.is_calibrated():
return pose, None, None
gray = cv.cvtColor(image, cv.COLOR_BGR2GRAY) gray = cv.cvtColor(image, cv.COLOR_BGR2GRAY)
charuco_corners, charuco_ids, marker_corners, marker_ids = self.detector.detectBoard(gray) charuco_corners, charuco_ids, marker_corners, marker_ids = self.detector.detectBoard(gray)
@@ -75,7 +74,7 @@ class ArTagPoseCharucoBoard(ArTagPose):
cv.aruco.drawDetectedCornersCharuco(image, charuco_corners, charuco_ids) cv.aruco.drawDetectedCornersCharuco(image, charuco_corners, charuco_ids)
# Draw marker axis # Draw marker axis
if draw_marker_axis: if draw_marker_axis and self.is_calibrated():
_r_vecs, _t_vecs, _ = cv.aruco.estimatePoseSingleMarkers(marker_corners, markerLength=0.1, _r_vecs, _t_vecs, _ = cv.aruco.estimatePoseSingleMarkers(marker_corners, markerLength=0.1,
cameraMatrix=self.mtx, distCoeffs=self.dist) cameraMatrix=self.mtx, distCoeffs=self.dist)
for i in range(len(_r_vecs)): for i in range(len(_r_vecs)):
@@ -85,7 +84,7 @@ class ArTagPoseCharucoBoard(ArTagPose):
obj_points, img_points = self.board.matchImagePoints(charuco_corners, charuco_ids) obj_points, img_points = self.board.matchImagePoints(charuco_corners, charuco_ids)
offset = int(self.board.getMarkerLength() * self.board.getSquareLength()) offset = int(self.board.getMarkerLength() * self.board.getSquareLength())
obj_points -= [offset, offset, 0] obj_points -= [offset, offset, 0]
if self.mtx is not None and self.dist is not None: if self.is_calibrated():
pose, r_vec, t_vec = cv.solvePnP(obj_points, img_points, self.mtx, self.dist, useExtrinsicGuess=False, pose, r_vec, t_vec = cv.solvePnP(obj_points, img_points, self.mtx, self.dist, useExtrinsicGuess=False,
rvec=r_vecs, tvec=t_vecs, flags=cv.SOLVEPNP_ITERATIVE) rvec=r_vecs, tvec=t_vecs, flags=cv.SOLVEPNP_ITERATIVE)
if pose: if pose: