mirror of
https://github.com/opencv/opencv_contrib.git
synced 2025-10-17 15:26:00 +08:00
36 lines
1.0 KiB
Python
36 lines
1.0 KiB
Python
import cv2
|
|
import numpy as np
|
|
|
|
# aruco
|
|
adict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_4X4_50)
|
|
cv2.imshow("marker", cv2.aruco.drawMarker(adict, 0, 400))
|
|
|
|
# random calibration data. your mileage may vary.
|
|
imsize = (800, 600)
|
|
K = cv2.getDefaultNewCameraMatrix(np.diag([800, 800, 1]), imsize, True)
|
|
|
|
# AR scene
|
|
cv2.ovis.addResourceLocation("packs/Sinbad.zip") # shipped with Ogre
|
|
|
|
win = cv2.ovis.createWindow("arucoAR", imsize, flags=0)
|
|
win.createEntity("figure", "Sinbad.mesh", (0, 0, -5), (-1.57, 0, 0))
|
|
win.createLightEntity("sun", (0, 0, -100))
|
|
|
|
# video capture
|
|
cap = cv2.VideoCapture(0)
|
|
cap.set(cv2.CAP_PROP_FRAME_WIDTH, imsize[0])
|
|
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, imsize[1])
|
|
|
|
while cv2.ovis.renderOneFrame():
|
|
img = cap.read()[1]
|
|
win.setBackground(img)
|
|
corners, ids = cv2.aruco.detectMarkers(img, adict)[:2]
|
|
|
|
cv2.waitKey(1)
|
|
|
|
if ids is None:
|
|
continue
|
|
|
|
rvecs, tvecs = cv2.aruco.estimatePoseSingleMarkers(corners, 5, K, None)[:2]
|
|
win.setCameraPose(tvecs[0].ravel(), rvecs[0].ravel(), invert=True)
|