HQU-gxy/ChArUcoBoardExp
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crosstyan
2024-11-21 17:56:29 +08:00
parent f341a5d772
commit 6be586a26e
1 changed files with 22 additions and 9 deletions
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29
test.py
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@ -43,24 +43,37 @@ def create_charuco_board(
IMAGE_PATH= Path("/Users/crosstyan/Downloads/IMG_1505.jpeg")
def main():
...
img: MatLike
img = cv2.imread(str(IMAGE_PATH))
# 10x7
border_num_x = 10
border_num_y = 7
# 115mm square
# 90mm marker
dictionary = ArucoDictionary.Dict_4X4_50
predifined = aruco.getPredefinedDictionary(dictionary.value)
# https://docs.opencv.org/4.x/d9/d6a/group__aruco.html#ga3bc50d61fe4db7bce8d26d56b5a6428a
# https://docs.opencv.org/4.x/df/d4a/tutorial_charuco_detection.html
corners, ids, rejected = aruco.detectMarkers(img, predifined)
board = create_charuco_board(10, 7, 115, 90, predifined)
if ids is not None:
aruco.drawDetectedMarkers(img, corners, ids)
_, ch_corners, ch_ids = aruco.interpolateCornersCharuco(corners, ids, img, board)
if ch_corners is not None and ch_ids is not None:
aruco.drawDetectedCornersCharuco(img, ch_corners, ch_ids)
# https://docs.opencv.org/3.4/df/d4a/tutorial_charuco_detection.html
# https://docs.opencv.org/4.x/dc/dbb/tutorial_py_calibration.html
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
ret, chess_corners = cv2.findChessboardCorners(gray, (border_num_x, border_num_y), None)
if ret:
cv2.drawChessboardCorners(img, (border_num_x, border_num_y), chess_corners, ret)
cv2.imwrite("output.jpg", img)
else:
print("not found")
# corners, ids, rejected = aruco.detectMarkers(img, predifined)
# board = create_charuco_board(10, 7, 115, 90, predifined)
# detector = aruco.CharucoDetector(board)
# if ids is not None:
# aruco.drawDetectedMarkers(img, corners, ids)
# _, ch_corners, ch_ids = aruco.interpolateCornersCharuco(corners, ids, img, board)
# if ch_corners is not None and ch_ids is not None:
# aruco.drawDetectedCornersCharuco(img, ch_corners, ch_ids)
# cv2.imwrite("output.jpg", img)
if __name__ == "__main__":