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