玩了下opencv的aruco（python版）

標籤：矩陣   gpo   operation   eps   error   from   markers   電腦   icc   

簡單的玩了下opencv裡頭的aruco，用的手機相機，手機裝了個 ip網路攝影機，這樣視頻就可以傳到電腦上了。

首先是標定，我沒列印chessboard，直接在電腦螢幕上顯示，拍了17張，大概如下：

又在手機上裝了個 尺子 之類的app，比划著量了下，每個格子大概是18.1 mm，這個棋盤是10 x 7的棋盤。

要pip install opencv-contrib-python才有擴充模組，擴充模組中包含aruco

然後標定了一下：

 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 # 找棋盤格角點 9 10 criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001) # 閾值11 #棋盤格模板規格12 w = 9   # 10 - 113 h = 6   # 7  - 114 # 全局座標系中的棋盤格點,例如(0,0,0), (1,0,0), (2,0,0) ....,(8,5,0)，去掉Z座標，記為二維矩陣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 # 儲存棋盤格角點的全局座標和映像座標組20 objpoints = [] # 在全局座標系中的三維點21 imgpoints = [] # 在映像平面的二維點22 23 images = glob.glob(‘./chessboard/*.jpg‘)  #   拍攝的十幾張棋盤圖片所在目錄24 25 i = 126 for fname in images:27 28     img = cv2.imread(fname)29     gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)30     # 找到棋盤格角點31     ret, corners = cv2.findChessboardCorners(gray, (w,h),None)32     # 如果找到足夠點對，將其儲存起來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         # 將角點在映像上顯示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 #%% 標定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)      # 內參數矩陣  54 print("dist:\n",dist   )   # 畸變係數   distortion cofficients = (k_1,k_2,p_1,p_2,k_3)  55 print("rvecs:\n",rvecs)   # 旋轉向量  # 外參數  56 print("tvecs:\n",tvecs  )  # 平移向量  # 外參數

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標定結果裡對aruco有用的是 mtx 和 dist。

然後列印包含aruco的marker的紙，運行下面的代碼就可以玩了：

 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 #My Phone拍棋盤的時候圖片大小是 4000 x 225020 #ip網路攝影機拍視頻的時候設定的是 1920 x 1080，長寬比是一樣的，21 #ip網路攝影機設定解析度的時候注意一下22 23 24 dist = np.array( [0.226317, -1.21478, 0.00170689, -0.000334551, 1.9892] )25 26 video = "http://admin:[email protected]:8081/"   # 手機ip網路攝影機27 # 根據ip網路攝影機在你手機上產生的ip地址更改，右上方可修改映像解析度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鍵退出82         print(‘esc break...‘)  83         cap.release()84         cv2.destroyAllWindows()85         break86     87     if key == ord(‘ ‘):   # 按空格鍵儲存88 #        num = num + 189 #        filename = "frames_%s.jpg" % num  # 儲存一張映像90         filename = str(time.time())[:10] + ".jpg"  91         cv2.imwrite(filename, frame)

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最後效果如下：

 

玩了下opencv的aruco（python版）