幸运的是,aruco模块提供了一个函数,它能在输入图像中来绘制检测出来的markers,这个函数就是drawDetectedMarkers(),例子如下: ``` c++cv::MatoutputImage cv::aruco::drawDetectedMarkers(image, markerCorners, markerIds); ``` image是输入/输出图像,程序将在这张图上绘制marker。(它通常就是检测出marker的那张...
cv::Matimage,imageCopy;inputVideo.retrieve(image);image.copyTo(imageCopy);std::vector<int>ids;std::vector<std::vector<cv::Point2f>>corners;cv::aruco::detectMarkers(image,dictionary,corners,ids);// if at least one marker detectedif(ids.size()>0){cv::aruco::drawDetectedMarkers(imageCopy,cor...
Aruco.estimatePoseSingleMarkers(corners,markerLength,camMatrix,distCoeffs,rvecs,tvecs);for(inti=0;i<ids.total();i++){using(Matrvec=newMat(rvecs,newOpenCVForUnity.CoreModule.Rect(0,i,1,1)))using(Mattvec=newMat(tvecs,newOpenCVForUnity.CoreModule.Rect(0,i,1,1))){//这一函数获取的marker坐标...
// cv::aruco::estimatePoseSingleMarkers(markerCorners, squareLength, cameraMatrix, distCoeffs, rvecs, tvecs); // 估计相机位姿(相对于 aruco 板) cv::aruco::estimatePoseBoard(markerCorners, markerIds, board, cameraMatrix, distCoeffs, rvec, tvec); rvecs.emplace_back(rvec); tvecs.emplace_back(tv...
img_gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)# cv2.imshow("img", img) # 由于没有GUI,无法调用imshow函数arucoDict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_4X4_50) arucoParams = cv2.aruco.DetectorParameters_create() corners, ids, rejected = cv2.aruco.detectMarkers(img_gray, arucoDict...
cv::aruco::detectMarkers(inputImage, board.dictionary, markerCorners, markerIds); // if at least one marker detected if(markerIds.size() > 0) { std::vector<cv::Point2f> charucoCorners; std::vector<int> charucoIds; cv::aruco::interpolateCornersCharuco(markerCorners, markerIds, inputImage,...
在线aruco标记生成器:https://chev.me/arucogen/ OpenCV识别Aruco markers库:https://docs.opencv.org/4.5.4/d5/dae/tutorial_aruco_detection.html 原创声明:本文系作者授权腾讯云开发者社区发表,未经许可,不得转载。 如有侵权,请联系 cloudcommunity@tencent.com 删除。 c++ opencv #目标检测 #Aruco #椭圆检测...
这可以使用refinedDetectedMarkers()函数来完成,该函数应该在调用detectMarkers()之后调用。此函数的主要参数是检测标记的原始图像、板对象、检测到的标记角点、检测到的标记ID和拒绝的标记角点。拒绝的角点可以从detectMarkers()函数获得,也被称为候选标记。这些候选者是在原始图像中发现的方形,但未能通过识别步骤(即其...
I am trying to code a simple C++ routine to first write a predefined dictionary of ArUco markers (e.g. 4x4_100) to a folder and then detect ArUco markers in a specific image selected from the folder using OpenCV 3.1 and Visual Studio 2017. I have compiled all the OpenCV-contrib librarie...
ArUco 标记 ArUco(Augmented Reality University of Cordoba) 由 S.Garrido-Jurado 等人于 2014 年在他们的工作“自动生成和检测遮挡下高度可靠的基准标记”(https://www.researchgate.net/publication/260251570_Automatic_generation_and_detection_of_highly_reliable_fiducial_...