diff options
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoDetector.py | 3 | ||||
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py | 11 |
2 files changed, 11 insertions, 3 deletions
diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py index 51f8366..e62a42e 100644 --- a/src/argaze/ArUcoMarkers/ArUcoDetector.py +++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py @@ -72,7 +72,8 @@ class DetectorParameters(): 'minOtsuStdDev', 'perspectiveRemoveIgnoredMarginPerCell', 'perspectiveRemovePixelPerCell', - 'polygonalApproxAccuracyRate' + 'polygonalApproxAccuracyRate', + 'useAruco3Detection' ] def __init__(self, **kwargs): diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py index dddead4..8600690 100644 --- a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py +++ b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py @@ -370,8 +370,15 @@ class ArUcoMarkersGroup(): raise ValueError(f'Marker {marker.identifier} doesn\'t belong to the group.') - # Solve - success, rvec, tvec = cv2.solvePnP(numpy.array(places_corners_3d), numpy.array(markers_corners_2d), numpy.array(K), numpy.array(D), flags=3) + # SolvPnP using cv2.SOLVEPNP_SQPNP flag + # TODO: it works also with cv2.SOLVEPNP_EPNP flag so we need to test which is the faster. + # About SolvPnP flags: https://docs.opencv.org/4.x/d5/d1f/calib3d_solvePnP.html + success, rvec, tvec = cv2.solvePnP(numpy.array(places_corners_3d), numpy.array(markers_corners_2d), numpy.array(K), numpy.array(D), flags=cv2.SOLVEPNP_SQPNP) + + # Refine pose estimation using Gauss-Newton optimisation + #if success : + + #rvec, tvec = cv2.solvePnPRefineVVS(numpy.array(places_corners_3d), numpy.array(markers_corners_2d), numpy.array(K), numpy.array(D), rvec, tvec) self._translation = tvec.T self._rotation = rvec.T |