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sbgadhwalasbgadhwala
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‎Aruco.py

+150
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import cv2
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from cv2 import aruco
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import numpy as np
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from CameraCalibration import getCoords
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def getCenterFromAruco():
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cen = np.array([0 ,0])
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area = 0
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marker_dict = aruco.Dictionary_get(aruco.DICT_5X5_1000)
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param_markers = aruco.DetectorParameters_create()
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cap = cv2.VideoCapture(0)
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#cap = cv2.VideoCapture(1, cv2.CAP_DSHOW)
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while True:
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ret, frame = cap.read()
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if not ret:
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break
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gray_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
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marker_corners, marker_IDs, reject = aruco.detectMarkers(
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gray_frame, marker_dict, parameters=param_markers
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)
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if marker_corners:
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for ids, corners in zip(marker_IDs, marker_corners):
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cv2.polylines(
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frame, [corners.astype(np.int32)], True, (0, 255, 255), 4, cv2.LINE_AA
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)
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corners = corners.reshape(4, 2)
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corners = corners.astype(int)
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top_right = corners[0].ravel()
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top_left = corners[1].ravel()
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bottom_right = corners[2].ravel()
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bottom_left = corners[3].ravel()
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center = bottom_left
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center[0] = (top_left[0] + bottom_right[0])/2
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center[1] = (top_left[1] + bottom_right[1])/2
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cv2.putText(
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frame,
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f"id: {ids[0]}",
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top_right,
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cv2.FONT_HERSHEY_PLAIN,
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1.3,
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(200, 100, 0),
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2,
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cv2.LINE_AA,
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)
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if str(ids[0]) == "300":
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cen = center
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area = (int(bottom_right[1]) - int(bottom_left[1]))**2
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with open(r"/home/ise.ros/Shyam/center_x.txt",'r+') as file:
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file.truncate(0)
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file1 = open(r"/home/ise.ros/Shyam/center_x.txt", "a")
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file1.write(str(cen[0]))
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file1.close()
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with open(r"/home/ise.ros/Shyam/center_y.txt",'r+') as file:
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file.truncate(0)
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file1 = open(r"/home/ise.ros/Shyam/center_y.txt", "a")
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file1.write(str(cen[1]))
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file1.close()
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with open(r"/home/ise.ros/Shyam/area.txt",'r+') as file:
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file.truncate(0)
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file1 = open(r"/home/ise.ros/Shyam/area.txt", "a")
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file1.write(str(area))
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file1.close()
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#return
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cv2.putText(
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frame,
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f"Center: {center[0]},{center[1]}",
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center,
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cv2.FONT_HERSHEY_PLAIN,
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1.3,
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(200, 100, 0),
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2,
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cv2.LINE_AA,
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)
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cv2.putText(
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frame,
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f"Area: {(int(bottom_right[1]) - int(bottom_left[1]))**2}",
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bottom_right,
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cv2.FONT_HERSHEY_PLAIN,
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1.3,
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(200, 100, 0),
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2,
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cv2.LINE_AA,
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)
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#print("Top Left: ", top_right)
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#print("Top Right: ", top_left)
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#print("Bottom Left: ", bottom_left)
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#print("Bottom Right: ", bottom_right)
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#print("Center Point: ", ((top_left[0] + bottom_right[0])/2 , (top_left[1] + bottom_right[1])/2))
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if ids == 3:
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print(ids, " ", corners)
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getCoords()
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'''blur = cv2.GaussianBlur(gray_frame,(5,5),0)
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ret, thresh_img = cv2.threshold(blur,91,255,cv2.THRESH_BINARY)
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contours = cv2.findContours(thresh_img,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)[-2]
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for c in contours :
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#cv2.drawContours(frame, [c], -1, (0,255,0), 3)
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if cv2.contourArea(c) > 1500 and cv2.contourArea(c) < 1600:
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approx = cv2.approxPolyDP(c, 0.009 * cv2.arcLength(c, True), True)
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cv2.drawContours(frame, [approx], 0, (0, 0, 255), 5)
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#cv2.drawContours(frame, [c], -1, (0,255,0), 3)
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n = approx.ravel()
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i = 0
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for j in n :
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if(i % 2 == 0):
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x = n[i]
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y = n[i + 1]
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# String containing the co-ordinates.
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string = str(x) + " " + str(y)
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if(i == 0):
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# text on topmost co-ordinate.
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cv2.putText(frame, "Arrow tip", (x, y),
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cv2.FONT_HERSHEY_COMPLEX, 0.5, (255, 0, 0))
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else:
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# text on remaining co-ordinates.
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cv2.putText(frame, string, (x, y),
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cv2.FONT_HERSHEY_COMPLEX, 0.5, (0, 255, 0))
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i = i + 1'''
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#cv2.line(frame, (arucoCenter[0], arucoCenter[1]), (x, y), (255,0,0), 4)
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cv2.imshow("frame", frame)
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key = cv2.waitKey(1)
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if key == ord("q"):
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break
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cap.release()
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cv2.destroyAllWindows()
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return
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if __name__ == "__main__":
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getCenterFromAruco()
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#getCoords()

‎Camera Data.csv

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ros_x,ros_y,area,center_x,center_y
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-0.208,-0.43,2704,470,80
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-0.208,-0.41,2209,454,97
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-0.208,-0.39,1849,441,112
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-0.208,-0.37,1521,431,125
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-0.208,-0.35,1296,423,135
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-0.208,-0.33,1156,415,144
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-0.208,-0.31,1024,409,151
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-0.208,-0.29,900,403,158
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-0.208,-0.27,784,398,164
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-0.22,-0.43,2704,427,80
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-0.22,-0.41,2209,416,96
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-0.22,-0.39,1849,407,111
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-0.22,-0.37,1521,400,124
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-0.22,-0.35,1296,393,135
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-0.22,-0.33,1156,388,143
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-0.22,-0.31,1024,383,151
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-0.22,-0.29,900,379,158
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-0.22,-0.27,784,375,164
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-0.24,-0.43,2704,357,79
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-0.24,-0.41,2209,352,96
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-0.24,-0.39,1849,349,111
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-0.24,-0.37,1521,347,124
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-0.24,-0.35,1369,344,134
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-0.24,-0.33,1156,342,143
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-0.24,-0.31,961,341,151
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-0.24,-0.29,900,339,157
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-0.24,-0.27,784,338,164
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-0.26,-0.43,2704,285,79
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-0.26,-0.41,2209,288,96
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-0.26,-0.39,1849,291,110
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-0.26,-0.37,1521,293,124
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-0.26,-0.35,1296,295,134
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-0.26,-0.33,1156,297,143
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-0.26,-0.31,1024,298,150
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-0.26,-0.29,900,300,158
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-0.26,-0.27,784,300,164
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-0.28,-0.43,2704,214,78
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-0.28,-0.41,2209,224,95
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-0.28,-0.39,1849,233,110
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-0.28,-0.37,1521,240,123
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-0.28,-0.35,1296,246,134
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-0.28,-0.33,1156,251,142
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-0.28,-0.31,961,256,151
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-0.28,-0.29,900,259,157
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-0.28,-0.27,729,263,164

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