81 lines
2.8 KiB
Python
81 lines
2.8 KiB
Python
from imutils.video import VideoStream
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import argparse
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import imutils
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import time
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import cv2
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import sys
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import numpy
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ARUCO_DICT = {
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"DICT_4X4_50": cv2.aruco.DICT_4X4_50,
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"DICT_4X4_100": cv2.aruco.DICT_4X4_100,
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"DICT_4X4_250": cv2.aruco.DICT_4X4_250,
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"DICT_4X4_1000": cv2.aruco.DICT_4X4_1000,
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"DICT_5X5_50": cv2.aruco.DICT_5X5_50,
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"DICT_5X5_100": cv2.aruco.DICT_5X5_100,
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"DICT_5X5_250": cv2.aruco.DICT_5X5_250,
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"DICT_5X5_1000": cv2.aruco.DICT_5X5_1000,
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"DICT_6X6_50": cv2.aruco.DICT_6X6_50,
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"DICT_6X6_100": cv2.aruco.DICT_6X6_100,
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"DICT_6X6_250": cv2.aruco.DICT_6X6_250,
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"DICT_6X6_1000": cv2.aruco.DICT_6X6_1000,
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"DICT_7X7_50": cv2.aruco.DICT_7X7_50,
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"DICT_7X7_100": cv2.aruco.DICT_7X7_100,
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"DICT_7X7_250": cv2.aruco.DICT_7X7_250,
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"DICT_7X7_1000": cv2.aruco.DICT_7X7_1000,
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"DICT_ARUCO_ORIGINAL": cv2.aruco.DICT_ARUCO_ORIGINAL,
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"DICT_APRILTAG_16h5": cv2.aruco.DICT_APRILTAG_16h5,
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"DICT_APRILTAG_25h9": cv2.aruco.DICT_APRILTAG_25h9,
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"DICT_APRILTAG_36h10": cv2.aruco.DICT_APRILTAG_36h10,
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"DICT_APRILTAG_36h11": cv2.aruco.DICT_APRILTAG_36h11
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}
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cap = cv2.VideoCapture(0)
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aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_ARUCO_ORIGINAL)
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aruco_params = cv2.aruco.DetectorParameters_create()
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if (cap.isOpened() == False):
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raise("error opening video input")
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while cap.isOpened() == True:
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ret, frame = cap.read()
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if ret == True:
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frame = imutils.resize(frame, width=1000)
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(corners, ids, rejected) = cv2.aruco.detectMarkers(frame,aruco_dict, parameters=aruco_params)
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if len(corners) > 0:
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ids = ids.flatten()
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for (markerCorner, markerID) in zip(corners, ids):
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corners = markerCorner.reshape((4, 2))
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(topLeft, topRight, bottomRight, bottomLeft) = corners
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topRight = (int(topRight[0]), int(topRight[1]))
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bottomRight = (int(bottomRight[0]), int(bottomRight[1]))
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bottomLeft = (int(bottomLeft[0]), int(bottomLeft[1]))
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topLeft = (int(topLeft[0]), int(topLeft[1]))
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cv2.line(frame, topLeft, topRight, (0, 255, 0), 2)
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cv2.line(frame, topRight, bottomRight, (0, 255, 0), 2)
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cv2.line(frame, bottomRight, bottomLeft, (0, 255, 0), 2)
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cv2.line(frame, bottomLeft, topLeft, (0, 255, 0), 2)
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cX = int((topLeft[0] + bottomRight[0]) / 2.0)
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cY = int((topLeft[1] + bottomRight[1]) / 2.0)
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cv2.circle(frame, (cX, cY), 4, (0, 0, 255), -1)
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cv2.putText(frame, str(markerID),
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(topLeft[0], topLeft[1] - 15),
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cv2.FONT_HERSHEY_SIMPLEX,
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0.5, (0, 255, 0), 2)
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cv2.imshow("Frame", frame)
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cv2.imshow('Frame',frame)
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if cv2.waitKey(25) & 0XFF == ord('q'):
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break
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else:
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break
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cap.release()
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cv2.destroyAllWindows()
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