aruco板_玩了下opencv的aruco（python版）

1 importnumpy as np2 importtime3 importcv24 importcv2.aruco as aruco5

6 #with np.load('webcam_calibration_output.npz') as X:

7 #mtx, dist, _, _ = [X[i] for i in ('mtx','dist','rvecs','tvecs')]

8

9 #mtx =

10 #2946.48 0 1980.53

11 #0 2945.41 1129.25

12 #0 0 1

13

14 mtx =np.array([15 [2946.48, 0, 1980.53],16 [ 0, 2945.41, 1129.25],17 [ 0, 0, 1],18 ])19 #我的手机拍棋盘的时候图片大小是 4000 x 2250

20 #ip摄像头拍视频的时候设置的是 1920 x 1080，长宽比是一样的，

21 #ip摄像头设置分辨率的时候注意一下

22

23

24 dist = np.array( [0.226317, -1.21478, 0.00170689, -0.000334551, 1.9892] )25

26 video = "http://admin:admin@192.168.1.2:8081/" #手机ip摄像头

27 #根据ip摄像头在你手机上生成的ip地址更改，右上角可修改图像分辨率

28

29 cap =cv2.VideoCapture(video)30

31

32 font = cv2.FONT_HERSHEY_SIMPLEX #font for displaying text (below)

33

34 #num = 0

35 whileTrue:36 ret, frame =cap.read()37 #operations on the frame come here

38

39 gray =cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)40 aruco_dict =aruco.Dictionary_get(aruco.DICT_6X6_250)41 parameters =aruco.DetectorParameters_create()42

43 '''

44 detectMarkers(...)45 detectMarkers(image, dictionary[, corners[, ids[, parameters[, rejectedI46 mgPoints]]]]) -> corners, ids, rejectedImgPoints47 '''

48

49 #lists of ids and the corners beloning to each id

50 corners, ids, rejectedImgPoints =aruco.detectMarkers(gray,51 aruco_dict,52 parameters=parameters)53

54 #if ids != None:

55 if ids is notNone:56

57 rvec, tvec, _ = aruco.estimatePoseSingleMarkers(corners, 0.05, mtx, dist)58 #Estimate pose of each marker and return the values rvet and tvec---different

59 #from camera coeficcients

60 (rvec-tvec).any() #get rid of that nasty numpy value array error

61

62 #aruco.drawAxis(frame, mtx, dist, rvec, tvec, 0.1) #Draw Axis

63 #aruco.drawDetectedMarkers(frame, corners) #Draw A square around the markers

64

65 for i inrange(rvec.shape[0]):66 aruco.drawAxis(frame, mtx, dist, rvec[i, :, :], tvec[i, :, :], 0.03)67 aruco.drawDetectedMarkers(frame, corners)68 ###### DRAW ID #####

69 #cv2.putText(frame, "Id: " + str(ids), (0,64), font, 1, (0,255,0),2,cv2.LINE_AA)

70

71

72 else:73 ##### DRAW "NO IDS" #####

74 cv2.putText(frame, "No Ids", (0,64), font, 1, (0,255,0),2,cv2.LINE_AA)75

76 #Display the resulting frame

77 cv2.imshow("frame",frame)78

79 key = cv2.waitKey(1)80

81 if key == 27: #按esc键退出

82 print('esc break...')83 cap.release()84 cv2.destroyAllWindows()85 break

86

87 if key == ord(' '): #按空格键保存

88 #num = num + 1

89 #filename = "frames_%s.jpg" % num # 保存一张图像

90 filename = str(time.time())[:10] + ".jpg"

91 cv2.imwrite(filename, frame)