实时检测Aruco标签坐标及位姿opencv-python4.6和4.7版本

先说opencv-contrib-python==4.7.0.72时，aruco下面带曲线，但是程序也能跑，可以跑检测的，对比4.6版本需要改三个函数

	4.6装opencv-contrib-python	4.7装opencv-contrib-python
1	cv2.aruco.Dictionary_get()	cv2.aruco.getPredefinedDictionary
2	cv2.aruco.DetectorParameters_create	cv2.aruco.DetectorParameters
3	cv2.aruco.drawAxis	cv2.drawFrameAxes
4	cv2.aruco.detectMarkers	cv2.aruco.ArucoDetector.detectMarkers

 备注：第4个程序是不装contrib时，只装opencv-python库时用到的，前面的文章提到过，aruco的库在4.7版本中，已经放到主库了，只用opencv-python的库即可，但是用cv2.aruco.ArucoDetector.detectMarkers这个函数的时候报错，所以，还是卸载掉了opencv-python，安装了opencv-contrib-python的库。

哪位高手在4.7版本中没有用contrib库，欢迎留言

python3.9的环境中安装opencv-contrib-python==4.7.0.72时代码

下面程序中引用的“标定文件.yaml”,在上一篇文章中有详细说明及代码，可以直接运行得到

import numpy as np
import time
import cv2
import cv2.aruco as aruco
#这个程序是好的，可以跑的

#相机内参
import yaml

file_path = ("./标定文件.yaml")
# file_path = ("/home/pi/PycharmProjects/pythonProject/opencv_test/变焦相机标定参数.yaml")
###加载文件路径###

with open(file_path, "r") as file:
    parameter = yaml.load(file.read(), Loader=yaml.Loader)
    mtx = parameter['camera_matrix']
    dist = parameter['dist_coeff']
    camera_u = parameter['camera_u']
    camera_v = parameter['camera_v']
    mtx = np.array(mtx)
    dist = np.array(dist)


#打开笔记本摄像头
cap = cv2.VideoCapture(0,cv2.CAP_DSHOW)
font = cv2.FONT_HERSHEY_SIMPLEX #font for displaying text (below)

#num = 0
while True:
    start = time.time()
    ret, frame = cap.read()
    # operations on the frame come here

    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
    aruco_dict = aruco.getPredefinedDictionary(aruco.DICT_4X4_1000)
    parameters =  aruco.DetectorParameters()

    #lists of ids and the corners beloning to each id
    corners, ids, rejectedImgPoints = aruco.detectMarkers(gray,
                                                          aruco_dict,
                                                          parameters=parameters)

#    if ids != None:
    if ids is not None:

        rvec, tvec, _ = aruco.estimatePoseSingleMarkers(corners, 0.05, mtx, dist)
        # Estimate pose of each marker and return the values rvet and tvec---different
        # from camera coeficcients
        (rvec-tvec).any() # get rid of that nasty numpy value array error

#        aruco.drawAxis(frame, mtx, dist, rvec, tvec, 0.1) #Draw Axis
#        aruco.drawDetectedMarkers(frame, corners) #Draw A square around the markers

        for i in range(rvec.shape[0]):
            cv2.drawFrameAxes(frame, mtx, dist, rvec[i, :, :], tvec[i, :, :], 0.03)
            aruco.drawDetectedMarkers(frame, corners)
        #显示ID，rvec,tvec, 旋转向量和平移向量
        cv2.putText(frame, "Id: " + str(ids), (10,40), font, 0.5, (0, 0, 255),1,cv2.LINE_AA)
        cv2.putText(frame, "rvec: " + str(rvec[i, :, :]), (10, 60), font, 0.5, (0, 255, 0), 2, cv2.LINE_AA)
        cv2.putText(frame, "tvec: " + str(tvec[i, :, :]), (10,80), font, 0.5, (0, 0, 255), 1, cv2.LINE_AA)


    else:

        cv2.putText(frame, "No Ids", (10,64), font, 1, (0,255,0),2,cv2.LINE_AA)

    end = time.time()
    # 计算帧率并显示
    cv2.putText(frame, "rate: " + str(1 / (end-start )), (10, 120), font, 0.5, (0, 0, 255), 1, cv2.LINE_AA)
    cv2.imshow("frame",frame)

    key = cv2.waitKey(1)

    if key == 27:         # 按esc键退出
        print('esc break...')
        cap.release()
        cv2.destroyAllWindows()
        break

    if key == ord(' '):   # 按空格键保存
#        num = num + 1
#        filename = "frames_%s.jpg" % num  # 保存一张图像
        filename = str(time.time())[:10] + ".jpg"
        cv2.imwrite(filename, frame)

检测效果图

 在python3.9的环境中安装opencv-contrib-python==4.5.4.60时，代码

import numpy as np
import time
import cv2
import cv2.aruco as aruco

#相机内参
import yaml

file_path = ("./标定文件.yaml")
# file_path = ("/home/pi/PycharmProjects/pythonProject/opencv_test/变焦相机标定参数.yaml")
###加载文件路径###

with open(file_path, "r") as file:
    parameter = yaml.load(file.read(), Loader=yaml.Loader)
    mtx = parameter['camera_matrix']
    dist = parameter['dist_coeff']
    camera_u = parameter['camera_u']
    camera_v = parameter['camera_v']
    mtx = np.array(mtx)
    dist = np.array(dist)


#windows
cap = cv2.VideoCapture(0,cv2.CAP_DSHOW)
font = cv2.FONT_HERSHEY_SIMPLEX #font for displaying text (below)

#num = 0
while True:
    start = time.time()
    ret, frame = cap.read()
    # operations on the frame come here

    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
    aruco_dict = aruco.getPredefinedDictionary(aruco.DICT_4X4_1000)
    parameters =  aruco.DetectorParameters_create()


    #lists of ids and the corners beloning to each id
    corners, ids, rejectedImgPoints = aruco.detectMarkers(gray,
                                                          aruco_dict,
                                                          parameters=parameters)


    if ids is not None:

        rvec, tvec, _ = aruco.estimatePoseSingleMarkers(corners, 0.05, mtx, dist)
        # Estimate pose of each marker and return the values rvet and tvec---different
        # from camera coeficcients
        (rvec-tvec).any() # get rid of that nasty numpy value array error

#        aruco.drawAxis(frame, mtx, dist, rvec, tvec, 0.1) #Draw Axis
#        aruco.drawDetectedMarkers(frame, corners) #Draw A square around the markers

        for i in range(rvec.shape[0]):
            cv2.drawFrameAxes(frame, mtx, dist, rvec[i, :, :], tvec[i, :, :], 0.03)
            aruco.drawDetectedMarkers(frame, corners)
        #显示ID，rvec,tvec, 旋转向量和平移向量
        cv2.putText(frame, "Id: " + str(ids), (10,40), font, 0.5, (0, 0, 255),1,cv2.LINE_AA)
        cv2.putText(frame, "rvec: " + str(rvec[i, :, :]), (10, 60), font, 0.5, (0, 255, 0), 2, cv2.LINE_AA)
        cv2.putText(frame, "tvec: " + str(tvec[i, :, :]), (10,80), font, 0.5, (0, 0, 255), 1, cv2.LINE_AA)


    else:

        cv2.putText(frame, "No Ids", (10,64), font, 1, (0,255,0),2,cv2.LINE_AA)

    end = time.time()
    # 计算并显示帧率
    cv2.putText(frame, "rate: " + str(1 / (end-start )), (10, 120), font, 0.5, (0, 0, 255), 1, cv2.LINE_AA)
    cv2.imshow("frame",frame)

    key = cv2.waitKey(1)

    if key == 27:         # 按esc键退出
        print('esc break...')
        cap.release()
        cv2.destroyAllWindows()
        break

    if key == ord(' '):   # 按空格键保存
#        num = num + 1
#        filename = "frames_%s.jpg" % num  # 保存一张图像
        filename = str(time.time())[:10] + ".jpg"
        cv2.imwrite(filename, frame)

备注，安装指定版本的python命令

pip install opencv-contrib-python==4.5.4.60 -i https://pypi.tuna.tsinghua.edu.cn/simple --verbose

pip install opencv-contrib-python==4.7.0.72 -i https://pypi.tuna.tsinghua.edu.cn/simple --verbose