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opencv4.py
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opencv4.py
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#!/usr/bin/env python3
import cv2
import numpy
import imutils
from imutils.video import VideoStream
import argparse
import sys
import time
ARUCO_DICT = {
"DICT_4X4_50": cv2.aruco.DICT_4X4_50,
"DICT_4X4_100": cv2.aruco.DICT_4X4_100,
"DICT_4X4_250": cv2.aruco.DICT_4X4_250,
"DICT_4X4_1000": cv2.aruco.DICT_4X4_1000,
"DICT_5X5_50": cv2.aruco.DICT_5X5_50,
"DICT_5X5_100": cv2.aruco.DICT_5X5_100,
"DICT_5X5_250": cv2.aruco.DICT_5X5_250,
"DICT_5X5_1000": cv2.aruco.DICT_5X5_1000,
"DICT_6X6_50": cv2.aruco.DICT_6X6_50,
"DICT_6X6_100": cv2.aruco.DICT_6X6_100,
"DICT_6X6_250": cv2.aruco.DICT_6X6_250,
"DICT_6X6_1000": cv2.aruco.DICT_6X6_1000,
"DICT_7X7_50": cv2.aruco.DICT_7X7_50,
"DICT_7X7_100": cv2.aruco.DICT_7X7_100,
"DICT_7X7_250": cv2.aruco.DICT_7X7_250,
"DICT_7X7_1000": cv2.aruco.DICT_7X7_1000,
"DICT_ARUCO_ORIGINAL": cv2.aruco.DICT_ARUCO_ORIGINAL,
"DICT_APRILTAG_16h5": cv2.aruco.DICT_APRILTAG_16h5,
"DICT_APRILTAG_25h9": cv2.aruco.DICT_APRILTAG_25h9,
"DICT_APRILTAG_36h10": cv2.aruco.DICT_APRILTAG_36h10,
"DICT_APRILTAG_36h11": cv2.aruco.DICT_APRILTAG_36h11
}
# construct the argument parser and parse the arguments
ap = argparse.ArgumentParser()
ap.add_argument("-t", "--type", type=str,
default="DICT_ARUCO_ORIGINAL",
help="DICT_4X4_250")
args = vars(ap.parse_args())
if ARUCO_DICT.get(args["type"], None) is None:
print("[INFO] ArUCo tag of '{}' is not supported".format(
args["type"]))
sys.exit(0)
print("[INFO] detecting '{}' tags...".format(args["type"]))
#initializing detector parameters
arucoDict = cv2.aruco.Dictionary_get(ARUCO_DICT[args["type"]])
arucoParams = cv2.aruco.DetectorParameters_create()
# initialize the video stream and allow the camera sensor to warm up
print("[INFO] starting video stream...")
vs = VideoStream(2).start()
time.sleep(2.0)
# loop over the frames from the video stream
while True:
# grab the frame from the threaded video stream and resize it
# to have a maximum width of 1000 pixels
frame = vs.read()
frame = imutils.resize(frame, width=1000)
# detect ArUco markers in the input frame
(corners, ids, rejected) = cv2.aruco.detectMarkers(frame,arucoDict, parameters=arucoParams)
if(len(corners)>0):
ids = ids.flatten()
for (markerCorner, markerID) in zip(corners, ids):
corners = markerCorner.reshape((4, 2))
(topLeft,topRight,bottomRight,bottomLeft) = corners
topRight = (int(topRight[0]), int(topRight[1]))
bottomRight = (int(bottomRight[0]), int(bottomRight[1]))
bottomLeft = (int(bottomLeft[0]), int(bottomLeft[1]))
topLeft = (int(topLeft[0]), int(topLeft[1]))
cv2.line(frame,topLeft,topRight,(0,255,0),2)
cv2.line(frame, topRight, bottomRight, (0, 255, 0), 2)
cv2.line(frame, bottomRight, bottomLeft, (0, 255, 0), 2)
cv2.line(frame, bottomLeft, topLeft, (0, 255, 0), 2)
cX = int((topLeft[0] + bottomRight[0]) / 2.0)
cY = int((topLeft[1] + bottomRight[1]) / 2.0)
cv2.circle(frame, (cX, cY), 4, (0, 0, 255), -1)
cv2.putText(frame, str(markerID),
(topLeft[0], topLeft[1] - 15), cv2.FONT_HERSHEY_SIMPLEX,
0.5, (0, 255, 0), 2)
if(markerID==4):
arenatopright=topRight
elif(markerID==8):
arenatopleft=topLeft
elif(markerID==10):
arenabottomleft=bottomLeft
elif(markerID==12):
arenabottomright=bottomRight
else:
continue
print("[INFO] ArUco marker ID: {}".format(markerID))
cv2.line(frame,arenatopleft,arenatopright,(0,255,0),2)
cv2.line(frame,arenatopright,arenabottomright,(0,255,0),2)
cv2.line(frame,arenabottomright,arenabottomleft,(0,255,0),2)
cv2.line(frame,arenabottomleft,arenatopleft,(0,255,0),2)
print("BL:",arenabottomleft)
print("TL:",arenatopleft)
print("TR:",arenatopright)
print("BR:",arenabottomright)
frame = frame[int(arenatopleft[1]):int(arenabottomright[1]), int(arenabottomleft[0]):int(arenatopright[0])]
frame = imutils.resize(frame, width=500,height=500)
cv2.imshow("Frame",frame)
key=cv2.waitKey(1) & 0xFF
if key == ord("q"):
break
# do a bit of cleanup
cv2.destroyAllWindows()
vs.stop()