如何在OpenCv Aruco跟踪程序中添加图

问题描述

我编写了一个简单的程序，该程序可以检测并跟踪Aruco标记。它可以显示标记（tvec）的坐标。我的目标是使用.subplots函数制作带有x，y，z坐标的实时图形。我想在新窗口中显示该图。我可以在程序中制作它还是必须制作另一个？

对于任何想法或建议，我都会感到高兴。

import numpy as np
import cv2
import cv2.aruco as aruco


camera_matrix = np.loadtxt('/home/maciej/PycharmProjects/Aruco_Project/cameraMatrix.txt',delimiter=',')
camera_distortion = np.loadtxt('/home/maciej/PycharmProjects/Aruco_Project/cameraDistortion.txt',')
font = cv2.FONT_HERSHEY_PLAIN

aruco_dict = aruco.getPredefinedDictionary(aruco.DICT_ARUCO_ORIGINAL)
parameters = aruco.DetectorParameters_create()

cap = cv2.VideoCapture(0)

cap.set(cv2.CAP_PROP_FRAME_WIDTH,1280)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT,720)

while True:
    ret,frame = cap.read()

    # operations on the frame
    gray = cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY)

    # set dictionary size depending on the aruco marker selected
    aruco_dict = aruco.Dictionary_get(aruco.DICT_ARUCO_ORIGINAL)

    # detector parameters can be set here (List of detection parameters[3])
    parameters = aruco.DetectorParameters_create()

    # lists of ids and the corners belonging to each id
    corners,ids,rejectedImgPoints = aruco.detectMarkers(image=gray,dictionary=aruco_dict,parameters=parameters,cameraMatrix=camera_matrix,distCoeff=camera_distortion)

    # font for displaying text (below)
    font = cv2.FONT_HERSHEY_SIMPLEX

    # check if the ids list is not empty
    # if no check is added the code will crash
    if np.all(ids is not None):

        # estimate pose of each marker and return the values
        # rvet and tvec-different from camera coefficients
        rvec,tvec,_ = aruco.estimatePoseSingleMarkers(corners,0.1,camera_matrix,camera_distortion)
        # (rvec-tvec).any() # get rid of that nasty numpy value array error

        for i in range(0,ids.size):
            # draw axis for the aruco markers
            aruco.drawAxis(frame,camera_distortion,rvec[i],tvec[i],0.1)

        # draw a square around the markers
        aruco.drawDetectedMarkers(frame,corners)

        id_marker = str(ids[0][0])

        cv2.putText(frame,"Id: " + id_marker,(0,70),font,1,255,0),2,cv2.LINE_AA)

        cv2.putText(frame,"x=%.1f   y=%.1f  z=%.1f" % ((tvec[0][0][0] * 100),(tvec[0][0][1] * 100),(tvec[0][0][2] * 100)),40),cv2.FONT_HERSHEY_SIMPLEX,255),cv2.LINE_AA)

    else:
        # code to show 'No Ids' when no markers are found
        cv2.putText(frame,"No Ids",64),cv2.LINE_AA)

    # display the resulting frame
    cv2.imshow('frame',frame)

    if cv2.waitKey(1) == 27:
        break

# When everything done,release the capture

cap.release()
cv2.destroyAllWindows()

解决方法

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