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36 lines
1.0 KiB
36 lines
1.0 KiB
import numpy as np |
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import cv2 as cv |
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# aruco |
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adict = cv.aruco.Dictionary_get(cv.aruco.DICT_4X4_50) |
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cv.imshow("marker", cv.aruco.drawMarker(adict, 0, 400)) |
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# random calibration data. your mileage may vary. |
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imsize = (800, 600) |
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K = cv.getDefaultNewCameraMatrix(np.diag([800, 800, 1]), imsize, True) |
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# AR scene |
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cv.ovis.addResourceLocation("packs/Sinbad.zip") # shipped with Ogre |
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win = cv.ovis.createWindow("arucoAR", imsize, flags=0) |
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win.setCameraIntrinsics(K, imsize) |
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win.createEntity("figure", "Sinbad.mesh", (0, 0, 5), (1.57, 0, 0)) |
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win.createLightEntity("sun", (0, 0, 100)) |
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# video capture |
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cap = cv.VideoCapture(0) |
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cap.set(cv.CAP_PROP_FRAME_WIDTH, imsize[0]) |
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cap.set(cv.CAP_PROP_FRAME_HEIGHT, imsize[1]) |
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while cv.ovis.waitKey(1) != 27: |
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img = cap.read()[1] |
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win.setBackground(img) |
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corners, ids = cv.aruco.detectMarkers(img, adict)[:2] |
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cv.waitKey(1) |
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if ids is None: |
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continue |
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rvecs, tvecs = cv.aruco.estimatePoseSingleMarkers(corners, 5, K, None)[:2] |
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win.setCameraPose(tvecs[0].ravel(), rvecs[0].ravel(), invert=True)
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