96 lines
3.2 KiB
Python
96 lines
3.2 KiB
Python
import sys
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import numpy as np
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import cv2 as cv
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import argparse
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from aruco_types import ARUCO_DICT
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def factory(dict_type: int, board_size: cv.typing.Size, marker_length: float=100.0, marker_sep=10, margins=10):
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aruco_dict = cv.aruco.getPredefinedDictionary(dict_type)
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params = cv.aruco.DetectorParameters()
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detector = cv.aruco.ArucoDetector(aruco_dict, params)
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board = cv.aruco.GridBoard(board_size, markerLength=marker_length, markerSeparation=marker_sep, dictionary=aruco_dict)
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im_w = int(board_size[0] * (marker_length + marker_sep) - marker_sep + 2 * margins)
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im_h = int(board_size[1] * (marker_length + marker_sep) - marker_sep + 2 * margins)
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image = board.generateImage((im_w, im_h), None, margins, 1)
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cv.imwrite("results/aruco_board.png", image)
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return detector, board
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def main():
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# construct the argument parser and parse the arguments
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ap = argparse.ArgumentParser()
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ap.add_argument("-t", "--type", type=str,
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default="DICT_ARUCO_ORIGINAL",
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help="type of ArUCo tag to detect")
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args = vars(ap.parse_args())
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# verify that the supplied ArUCo tag exists and is supported by
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# OpenCV
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if ARUCO_DICT.get(args["type"], None) is None:
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print("[INFO] ArUCo tag of '{}' is not supported".format(
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args["type"]))
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sys.exit(0)
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# load the ArUCo dictionary, grab the ArUCo parameters, and detect
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# the markers
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print("[INFO] detecting '{}' tags...".format(args["type"]))
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detector, board = factory(ARUCO_DICT[args["type"]], (5, 5))
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# load the input image from disk and resize it
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print("[INFO] start processing...")
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process_video(detector, board)
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def process_video(detector: cv.aruco.ArucoDetector, board):
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with np.load('results/cam_calib_charuco.npz') as X:
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mtx, dist, _, _ = [X[i] for i in ('mtx', 'dist', 'rvecs', 'tvecs')]
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# Open camera
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video = cv.VideoCapture(0)
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if not video.isOpened():
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print("Cannot open camera")
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exit()
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while True:
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# Read a new frame
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ok, img = video.read()
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if not ok:
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return
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process(detector, board, img, mtx, dist)
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k = cv.waitKey(1) & 0xFF
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if k == ord('q'):
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break
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def process(detector: cv.aruco.ArucoDetector, board: cv.aruco.GridBoard, img, mtx, dist, r_vecs=None, t_vecs=None, draw_marker_box=True, draw_marker_id=False, draw_marker_axis=True):
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gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
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(corners, ids, rejected) = detector.detectMarkers(gray)
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# Draw a square around the markers
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if draw_marker_box:
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cv.aruco.drawDetectedMarkers(img, corners)
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# Draw marker id
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if draw_marker_id:
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cv.aruco.drawDetectedMarkers(img, corners, ids)
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# Draw marker axis
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if draw_marker_axis:
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_r_vecs, _t_vecs, _ = cv.aruco.estimatePoseSingleMarkers(corners, markerLength=0.1, cameraMatrix=mtx, distCoeffs=dist)
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if _r_vecs is not None:
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for i in range(len(_r_vecs)):
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cv.drawFrameAxes(img, mtx, dist, _r_vecs[i], _t_vecs[i], 0.05)
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if len(corners) > 0:
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# Estimate pose of each marker and return the values r_vec and t_vec---(different from those of camera coefficients)
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obj_points, img_points = board.matchImagePoints(corners, ids)
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pose, r_vec, t_vec = cv.solvePnP(obj_points, img_points, mtx, dist, r_vecs, t_vecs)
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if pose:
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# Draw Axis
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cv.drawFrameAxes(img, mtx, dist, r_vec, t_vec, board.getMarkerLength()*1.5)
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cv.imshow('img', img)
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if __name__ == '__main__':
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main()
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cv.destroyAllWindows()
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