Python cv2.aruco() Examples

The following are 5 code examples of cv2.aruco(). You can vote up the ones you like or vote down the ones you don't like, and go to the original project or source file by following the links above each example. You may also want to check out all available functions/classes of the module cv2 , or try the search function .
Example #1
Source File: plane.py    From ObjectDatasetTools with MIT License 6 votes vote down vote up 
def findplane(cad,d):
    p0 = [0.506645455682, -0.185724560275, -1.43998120646, 1.37626378129]
    sol = None
    gray = cv2.cvtColor(cad, cv2.COLOR_BGR2GRAY)
    aruco_dict = aruco.Dictionary_get(aruco.DICT_6X6_250)
    parameters = aruco.DetectorParameters_create()
    #lists of ids and the corners beloning to each id
    corners, ids, rejectedImgPoints = aruco.detectMarkers(gray, aruco_dict, parameters=parameters)
    XYZ = [[],[],[]]
    if np.all(ids != None):
        for index,cornerset in enumerate(corners):
            cornerset = cornerset[0]
            for corner in cornerset:
                if d[int(corner[1])][int(corner[0])][2]!= 0:
                    XYZ[0].append(d[int(corner[1])][int(corner[0])][0])
                    XYZ[1].append(d[int(corner[1])][int(corner[0])][1])
                    XYZ[2].append(d[int(corner[1])][int(corner[0])][2])


        XYZ = np.asarray(XYZ)
        sol = leastsq(residuals, p0, args=(None, XYZ))[0]

    return sol
Example #2
Source File: register_segmented.py    From ObjectDatasetTools with MIT License 6 votes vote down vote up 
def get_aruco_center(cad,d):
     gray = cv2.cvtColor(cad, cv2.COLOR_BGR2GRAY)
     aruco_dict = aruco.Dictionary_get(aruco.DICT_6X6_250)
     parameters = aruco.DetectorParameters_create()
     #lists of ids and the corners beloning to each id
     corners, ids, rejectedImgPoints = aruco.detectMarkers(gray, aruco_dict, parameters=parameters)
     XYZ = []
     if np.all(ids != None):
          for index,cornerset in enumerate(corners):
               cornerset = cornerset[0]
               for corner in cornerset:
                    if d[int(corner[1])][int(corner[0])][2]!= 0:
                         XYZ.append(d[int(corner[1])][int(corner[0])])

     XYZ = np.asarray(XYZ)
     return np.mean(XYZ, axis = 0)
Example #3
Source File: aruco.py    From ObjectDatasetTools with MIT License 5 votes vote down vote up 
def print_usage():
    
    print("Usage: aruco.py <path>")
    print("path: all or name of the folder")
    print("e.g., aruco.py all, aruco.py.py LINEMOD/Cheezit")
Example #4
Source File: compute_gt_poses.py    From ObjectDatasetTools with MIT License 4 votes vote down vote up 
def marker_registration(source,target):
     cad_src, depth_src = source
     cad_des, depth_des = target
 
     gray_src = cv2.cvtColor(cad_src, cv2.COLOR_RGB2GRAY)
     gray_des = cv2.cvtColor(cad_des, cv2.COLOR_RGB2GRAY)
     aruco_dict = aruco.Dictionary_get(aruco.DICT_6X6_250)
     parameters = aruco.DetectorParameters_create()
    
     #lists of ids and the corners beloning to each id
     corners_src, _ids_src, rejectedImgPoints = aruco.detectMarkers(gray_src, aruco_dict, parameters=parameters)
     corners_des, _ids_des, rejectedImgPoints = aruco.detectMarkers(gray_des, aruco_dict, parameters=parameters)
     try:
         ids_src = []
         ids_des = []
         for i in range(len(_ids_src)):
              ids_src.append(_ids_src[i][0])
         for i in range(len(_ids_des)):
              ids_des.append(_ids_des[i][0])
     except:
         return None

     common = [x for x in ids_src if x in ids_des]
  
     if len(common) < 2:
          # too few marker matches, use icp instead
          return None

     
     src_good = []
     dst_good = []
     for i,id in enumerate(ids_des):
          if id in ids_src:
               j = ids_src.index(id)
               for count,corner in enumerate(corners_src[j][0]):
                    feature_3D_src = depth_src[int(corner[1])][int(corner[0])]
                    feature_3D_des = depth_des[int(corners_des[i][0][count][1])][int(corners_des[i][0][count][0])]
                    if feature_3D_src[2]!=0 and feature_3D_des[2]!=0:
                         src_good.append(feature_3D_src)
                         dst_good.append(feature_3D_des)
    
     # get rigid transforms between 2 set of feature points through ransac
     try:
          transform = match_ransac(np.asarray(src_good),np.asarray(dst_good))
          return transform
     except:
          return None
Example #5
Source File: lib_aruco_pose.py    From how_do_drones_work with BSD 3-Clause "New" or "Revised" License 4 votes vote down vote up 
def __init__(self,
                id_to_find,
                marker_size,
                camera_matrix,
                camera_distortion,
                camera_size=[640,480],
                show_video=False
                ):
        
        
        self.id_to_find     = id_to_find
        self.marker_size    = marker_size
        self._show_video    = show_video
        
        self._camera_matrix = camera_matrix
        self._camera_distortion = camera_distortion
        
        self.is_detected    = False
        self._kill          = False
        
        #--- 180 deg rotation matrix around the x axis
        self._R_flip      = np.zeros((3,3), dtype=np.float32)
        self._R_flip[0,0] = 1.0
        self._R_flip[1,1] =-1.0
        self._R_flip[2,2] =-1.0

        #--- Define the aruco dictionary
        self._aruco_dict  = aruco.getPredefinedDictionary(aruco.DICT_ARUCO_ORIGINAL)
        self._parameters  = aruco.DetectorParameters_create()


        #--- Capture the videocamera (this may also be a video or a picture)
        self._cap = cv2.VideoCapture(0)
        #-- Set the camera size as the one it was calibrated with
        self._cap.set(cv2.CAP_PROP_FRAME_WIDTH, camera_size[0])
        self._cap.set(cv2.CAP_PROP_FRAME_HEIGHT, camera_size[1])

        #-- Font for the text in the image
        self.font = cv2.FONT_HERSHEY_PLAIN

        self._t_read      = time.time()
        self._t_detect    = self._t_read
        self.fps_read    = 0.0
        self.fps_detect  = 0.0