opencv-Python 4.7.0版本以后对aruco检测相关函数的修改，以用于aruco码标定

在Python的cv4.7.0版本以后，有一些针对aruco库的修改，这会导致你无法使用之前的代码。

修改的地方如下，这里原来的代码参考了源代码，这是一个针对使用realsense对环境中aruco码的位姿检测的代码示例。其中主要是estimatePoseSingleMarkers需要重写。

import pyrealsense2 as rs
import numpy as np
import cv2
# 提示没有aruco的看问题汇总
import cv2.aruco as aruco

# 配置摄像头与开启pipeline
pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
profile = pipeline.start(config)
align_to = rs.stream.color
align = rs.align(align_to)

# 获取对齐的rgb和深度图
def get_aligned_images():
    frames = pipeline.wait_for_frames()
    aligned_frames = align.process(frames)
    aligned_depth_frame = aligned_frames.get_depth_frame()
    color_frame = aligned_frames.get_color_frame()
    # 获取intelrealsense参数
    intr = color_frame.profile.as_video_stream_profile().intrinsics
    # 内参矩阵，转ndarray方便后续opencv直接使用
    intr_matrix = np.array([
        [intr.fx, 0, intr.ppx], [0, intr.fy, intr.ppy], [0, 0, 1]
    ])
    # 深度图-16位
    depth_image = np.asanyarray(aligned_depth_frame.get_data())
    # 深度图-8位
    depth_image_8bit = cv2.convertScaleAbs(depth_image, alpha=0.03)
    pos = np.where(depth_image_8bit == 0)
    depth_image_8bit[pos] = 255
    # rgb图
    color_image = np.asanyarray(color_frame.get_data())
    # return: rgb图，深度图，相机内参，相机畸变系数(intr.coeffs)
    return color_image, depth_image, intr_matrix, np.array(intr.coeffs)

def my_estimatePoseSingleMarkers(corners, marker_size, mtx, distortion):
    '''
    This will estimate the rvec and tvec for each of the marker corners detected by:
       corners, ids, rejectedImgPoints = detector.detectMarkers(image)
    corners - is an array of detected corners for each detected marker in the image
    marker_size - is the size of the detected markers
    mtx - is the camera matrix
    distortion - is the camera distortion matrix
    RETURN list of rvecs, tvecs, and trash (so that it corresponds to the old estimatePoseSingleMarkers())
    '''
    marker_points = np.array([[-marker_size / 2, marker_size / 2, 0],
                              [marker_size / 2, marker_size / 2, 0],
                              [marker_size / 2, -marker_size / 2, 0],
                              [-marker_size / 2, -marker_size / 2, 0]], dtype=np.float32)
    trash = []
    rvecs = []
    tvecs = []
    for c in corners:
        nada, R, t = cv2.solvePnP(marker_points, c, mtx, distortion, False, cv2.SOLVEPNP_IPPE_SQUARE)
        rvecs.append(R)
        tvecs.append(t)
        trash.append(nada)
    return rvecs, tvecs, trash
if __name__ == "__main__":
    n = 0
    # 获取dictionary, 4x4的码，指示位50个
    aruco_dict = aruco.getPredefinedDictionary(aruco.DICT_ARUCO_ORIGINAL)
    # 创建detector parameters
    parameters = aruco.DetectorParameters()
    detector = aruco.ArucoDetector(aruco_dict, parameters)
    while 1:
        rgb, depth, intr_matrix, intr_coeffs = get_aligned_images()

        # 输入rgb图, aruco的dictionary, 相机内参, 相机的畸变参数
        corners, ids, rejected_img_points = detector.detectMarkers(rgb)
        # 估计出aruco码的位姿，0.045对应markerLength参数，单位是meter
        # rvec是旋转向量， tvec是平移向量
        # rvec, tvec, markerPoints = detector.estimatePoseSingleMarkers(corners, 0.045, intr_matrix, intr_coeffs)
        rvec, tvec, markerPoints = my_estimatePoseSingleMarkers(corners, 0.04, intr_matrix, intr_coeffs)
        try:
            # 在图片上标出aruco码的位置
            aruco.drawDetectedMarkers(rgb, corners)
            # 根据aruco码的位姿标注出对应的xyz轴, 0.05对应length参数，代表xyz轴画出来的长度
            # aruco.drawFrameAxes(rgb, intr_matrix, intr_coeffs, rvec, tvec, 0.5)
            for r,t in zip(rvec,tvec):
                cv2.drawFrameAxes(rgb, intr_matrix, intr_coeffs, r, t, 0.05)
        except:pass
        cv2.imshow('RGB image', rgb)
        key = cv2.waitKey(1)
        # 按键盘q退出程序
        if key & 0xFF == ord('q') or key == 27:
            pipeline.stop()
            break
        # 按键盘s保存图片
        elif key == ord('s'):
            n = n + 1
            # 保存rgb图
            cv2.imwrite('./img/rgb' + str(n) + '.jpg', rgb)

    cv2.destroyAllWindows()

效果如下：