ArUco估计位姿原理

ArUco使用

 

PnP

 

【OpenCV/aruco】校准相机(Camera Calibration) Demo

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使用opencv的aruco库进行位姿估计

#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 

using namespace cv;
using namespace std;

int main(int argc, char *argv[])

{
//内参与畸变矩阵，笔者在前面的博客已经给出求解方法，有需要的可以找找看看
    double fx,fy,cx,cy,k1,k2,k3,p1,p2;
    fx=955.8925;
    fy=955.4439;
    cx=296.9006;
    cy=215.9074;
    k1=-0.1523;
    k2=0.7722;
    k3=0;
    p1=0;
    p2=0;

  Mat cameraMatrix = (cv::Mat_(3, 3) <<
        fx, 0.0, cx,
        0.0, fy, cy,
        0.0, 0.0, 1.0);
   Mat distCoeffs = (cv::Mat_(5, 1) << k1, k2, p1, p2, k3);
   cv::VideoCapture inputVideo;
   inputVideo.open(0);
   cv::Ptr dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);

   while (inputVideo.grab()) {
       cv::Mat image, imageCopy;
       inputVideo.retrieve(image);//抓取视频中的一张照片
       image.copyTo(imageCopy);
       std::vector ids;
       std::vector> corners;
       cv::aruco::detectMarkers(image, dictionary, corners, ids);//检测靶标
       // if at least one marker detected
       if (ids.size() > 0) {
           cv::aruco::drawDetectedMarkers(imageCopy, corners, ids);//绘制检测到的靶标的框
           std::vector rvecs, tvecs;
           cv::aruco::estimatePoseSingleMarkers(corners, 0.055, cameraMatrix, distCoeffs, rvecs, tvecs);//求解旋转矩阵rvecs和平移矩阵tvecs
           //cout<<"R :"<

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三维坐标变换——旋转矩阵与旋转向量互转

Dlib姿态估计——旋转矩阵与欧拉角互转