Play the next OpenCV Aruco (Python version)

Simply play the next OpenCV inside the Aruco, with the mobile phone camera, mobile phone installed an IP camera , so that the video can be uploaded to the computer.

First is the calibration, I did not print chessboard, directly on the computer screen display, took 17, probably as follows:

And put a ruler and the like on the mobile phone app, the volume of the next, each lattice is probably 18.1 mm, the chessboard is the board of X 7.

To pip install Opencv-contrib-python, there is an extension module that contains the Aruco

Then calibrate it:

1 ImportCv22 ImportNumPy as NP3 ImportGlob4 ImportMatplotlib.pyplot as Plt5 Importmatplotlib.patches as Patches6 7 8 #find a Checkerboard corner point9 TenCriteria = (CV2. Term_criteria_eps + CV2. Term_criteria_max_iter, 30, 0.001)#threshold Value One #Checker Template Specifications AW = 9#10-1 -H = 6#7-1 - #a checkerboard point in the world coordinate system, for example (0,0,0), (1,0,0), (2,0,0) ..., (8,5,0), minus the z-coordinate, as a two-dimensional matrix theOBJP = Np.zeros ((w*h,3), Np.float32) -Objp[:,:2] = np.mgrid[0:w,0:h]. T.reshape ( -1,2) -OBJP = objp*18.1#18.1 mm -  + #storing world coordinates and image coordinate pairs for checkerboard corner points -Objpoints = []#three-dimensional points in the world coordinate system +Imgpoints = []#two-dimensional points in the image plane A  atImages = Glob.glob ('./chessboard/*.jpg')#List of more than 10 board images taken -  -i = 1 -  forFNameinchImages: -  -IMG =Cv2.imread (fname) inGray =Cv2.cvtcolor (Img,cv2. Color_bgr2gray) -     #find the Checkerboard corner point toRET, corners =Cv2.findchessboardcorners (Gray, (w,h), None) +     #If you find enough pairs, store them . -     ifRET = =True: the         Print("I:", i) *i = i+1 $     Panax NotoginsengCv2.cornersubpix (Gray,corners, (11,11), ( -1,-1), criteria) - objpoints.append (OBJP) the imgpoints.append (Corners) +         #Display corner points on an image A cv2.drawchessboardcorners (IMG, (w,h), corners, ret) theCv2.namedwindow ('findcorners', Cv2. Window_normal) +Cv2.resizewindow ('findcorners', 810, 405) -Cv2.imshow ('findcorners', IMG) $Cv2.waitkey (1) $ cv2.destroyallwindows () - #Percent Calibration -RET, MTX, Dist, rvecs, tvecs =  theCv2.calibratecamera (objpoints, imgpoints, gray.shape[::-1], none, none) - Wuyi  the Print("ret:", ret) - Print("mtx:\n", MTX)#Internal parameter matrix Wu Print("dist:\n", Dist)#distortion coefficient distortion cofficients = (k_1,k_2,p_1,p_2,k_3) - Print("rvecs:\n", Rvecs)#rotation vector # external parameters About Print("tvecs:\n", Tvecs)#translation Vector # external parameters

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In the calibration results, MTX and Dist are useful for Aruco.

Then print the paper containing the Aruco marker, and run the following code to play it:

1 ImportNumPy as NP2 Import Time3 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 =Ten #2946.48 0 1980.53 One #0 2945.41 1129.25 A #0 0 1 -  -MTX =Np.array ([ the[2946.48, 0, 1980.53], -[0, 2945.41, 1129.25], -[0, 0, 1], -         ]) + #when my phone was making a chessboard, the picture size was 4000 x 2250 - #when the IP camera took the video, it was set to x 1080 and the aspect ratio was the same, + #ip Camera When setting the resolution, pay attention. A  at  -dist = Np.array ([0.226317,-1.21478, 0.00170689,-0.000334551, 1.9892] ) -  -Video ="Http://admin:[email protected]:8081/"   #Mobile IP Camera - #The upper right corner modifies the image resolution based on IP address changes generated by IP camera on your phone -  inCap =Cv2. Videocapture (VIDEO) -  to  +Font = Cv2. Font_hershey_simplex#font for displaying text (below) -  the #num = 0 *  whileTrue: $RET, frame =Cap.read ()Panax Notoginseng     #operations on the frame come here -      theGray =Cv2.cvtcolor (frame, cv2. Color_bgr2gray) +Aruco_dict =Aruco. Dictionary_get (Aruco. DICT_6X6_250) AParameters =Aruco. Detectorparameters_create () the    +     " " - detectmarkers (...) $ detectmarkers (image, dictionary[, corners[, ids[, parameters[, Rejectedi $ Mgpoints]]) Corners, IDs, Rejectedimgpoints -     " "   -        the     #lists of IDs and the corners beloning to each ID -Corners, IDs, rejectedimgpoints =aruco.detectmarkers (Gray,Wuyi Aruco_dict, theparameters=parameters) -    Wu #if ids! = None: -     ifIds is  notNone: About            $Rvec, Tvec, _ = aruco.estimateposesinglemarkers (Corners, 0.05, MTX, Dist) -         #Estimate pose of each marker and return the values Rvet and Tvec---different -         #From camera coeficcients -(Rvec-tvec). any ()#get rid of that nasty NumPy value array error A          + #Aruco.drawaxis (frame, MTX, Dist, Rvec, Tvec, 0.1) #Draw Axis the #aruco.drawdetectedmarkers (frame, corners) #Draw A Square around the markers -          $          forIinchRange (Rvec.shape[0]): theAruco.drawaxis (frame, MTX, Dist, rvec[i,:,:], Tvec[i,:,:], 0.03) the aruco.drawdetectedmarkers (frame, corners) the         ###### DRAW ID ##### the #Cv2.puttext (Frame, "Id:" + str (IDS), (0,64), font, 1, (0,255,0), 2,cv2. LINE_AA) -    in    the     Else:   the         ## # # # DRAW "NO IDS" ##### AboutCv2.puttext (Frame,"No Ids", (0,64), font, 1, (0,255,0), 2, Cv2. LINE_AA) the    the     #Display the resulting frame theCv2.imshow ("Frame", frame) +      -Key = Cv2.waitkey (1) the     Bayi     ifKey = = 27:#Press the ESC key to exit the         Print('ESC Break ...')   the cap.release () - cv2.destroyallwindows () -          Break the      the     ifKey = = Ord (' '):#Press SPACEBAR to save the #num = num + 1 the #filename = "frames_%s.jpg"% num # saves an image -filename = str (time.time ()) [: 10] +". jpg"   theCv2.imwrite (filename, frame)

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The final effect is as follows:

Play the next OpenCV Aruco (Python version)