玩了下opencv的aruco（python版），opencvaruco,简单的玩了下open

玩了下opencv的aruco（python版），opencvaruco,简单的玩了下open

简单的玩了下opencv里头的aruco，用的手机相机，手机装了个 ip摄像头，这样视频就可以传到电脑上了。

首先是标定，我没打印chessboard，直接在电脑屏幕上显示，拍了17张，大概如下：

又在手机上装了个 尺子 之类的app，比划着量了下，每个格子大概是18.1 mm，这个棋盘是10 x 7的棋盘。

要pip install opencv-contrib-python才有扩展模块，扩展模块中包含aruco

然后标定了一下：

 1 import cv2 2 import numpy as np 3 import glob 4 import matplotlib.pyplot as plt 5 import matplotlib.patches as patches 6  7  8 # 找棋盘格角点 9 10 criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001) # 阈值11 #棋盘格模板规格12 w = 9   # 10 - 113 h = 6   # 7  - 114 # 世界坐标系中的棋盘格点,例如(0,0,0), (1,0,0), (2,0,0) ....,(8,5,0)，去掉Z坐标，记为二维矩阵15 objp = np.zeros((w*h,3), np.float32)16 objp[:,:2] = np.mgrid[0:w,0:h].T.reshape(-1,2)17 objp = objp*18.1  # 18.1 mm18 19 # 储存棋盘格角点的世界坐标和图像坐标对20 objpoints = [] # 在世界坐标系中的三维点21 imgpoints = [] # 在图像平面的二维点22 23 images = glob.glob(‘./chessboard/*.jpg‘)  #   拍摄的十几张棋盘图片所在目录24 25 i = 126 for fname in images:27 28     img = cv2.imread(fname)29     gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)30     # 找到棋盘格角点31     ret, corners = cv2.findChessboardCorners(gray, (w,h),None)32     # 如果找到足够点对，将其存储起来33     if ret == True:34         print("i:", i)35         i = i+136     37         cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria)38         objpoints.append(objp)39         imgpoints.append(corners)40         # 将角点在图像上显示41         cv2.drawChessboardCorners(img, (w,h), corners, ret)42         cv2.namedWindow(‘findCorners‘, cv2.WINDOW_NORMAL)43         cv2.resizeWindow(‘findCorners‘, 810, 405)44         cv2.imshow(‘findCorners‘,img)45         cv2.waitKey(1)46 cv2.destroyAllWindows()47 #%% 标定48 ret, mtx, dist, rvecs, tvecs = 49     cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)50 51 52 print("ret:",ret  )53 print("mtx:\n",mtx)      # 内参数矩阵  54 print("dist:\n",dist   )   # 畸变系数   distortion cofficients = (k_1,k_2,p_1,p_2,k_3)  55 print("rvecs:\n",rvecs)   # 旋转向量  # 外参数  56 print("tvecs:\n",tvecs  )  # 平移向量  # 外参数

标定结果里对aruco有用的是mtx 和 dist。

然后打印包含aruco的marker的纸，运行下面的代码就可以玩了：

 1 import numpy as np 2 import time 3 import cv2   4 import cv2.aruco as aruco   5  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    1980.5311 #0    2945.41    1129.2512 #0    0    113 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 225020 #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:[email protected]: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 = 035 while True:  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[, rejectedI 46         mgPoints]]]]) -> corners, ids, rejectedImgPoints 47     ‘‘‘  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 not None: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 markers64         65         for i in range(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         break86     87     if key == ord(‘ ‘):   # 按空格键保存88 #        num = num + 189 #        filename = "frames_%s.jpg" % num  # 保存一张图像90         filename = str(time.time())[:10] + ".jpg"  91         cv2.imwrite(filename, frame)

最后效果如下：

玩了下opencv的aruco（python版）