34 lines
1.1 KiB
Python
34 lines
1.1 KiB
Python
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import cv2 as cv
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import cv2.aruco as aruco
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from calibrate import calculareCameraCalibration
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cap = cv.VideoCapture(0)
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ret, mtx, dist, rvecs, tvecs = calculareCameraCalibration()
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parameters = aruco.DetectorParameters_create()
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aruco_dict = aruco.Dictionary_get(aruco.DICT_4X4_50)
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drawAxis = True
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while (True):
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ret, frame = cap.read()
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gray = cv.cvtColor(frame, cv.COLOR_BGR2GRAY)
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corners, ids, rejectedImgPoints = aruco.detectMarkers(gray, aruco_dict, parameters=parameters)
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frame = aruco.drawDetectedMarkers(frame, corners, ids)
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rvecs, tvecs, _ = aruco.estimatePoseSingleMarkers(corners, 0.05, mtx, dist)
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if ids is not None:
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for idx, marker in enumerate(ids):
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print(corners[idx][0]) #Affiche les coordonée tout les coins Top Left
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try:
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if drawAxis is True:
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aruco.drawAxis(frame, mtx,dist,rvecs[idx], tvecs[idx], 0.1)
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except:
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print(" Erreur calcul des axes")
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cv.imshow('frame', frame)
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if cv.waitKey(1) & 0xFF == ord('q'):
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break
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cap.release()
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cv.destroyAllWindows()
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