我使用了函数
cv.aruco.estimatePoseSingleMarkers()
来获取rvec
和tvec
。利用这两个向量,我该如何得到相机相对于Aruco标记的姿态? "最初的回答"while (True):
ret, frame = cap.read()
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
aruco_dict = aruco.Dictionary_get(aruco.DICT_ARUCO_ORIGINAL)
parameters = aruco.DetectorParameters_create()
corners, ids, rejectedImgPoints = aruco.detectMarkers(gray, aruco_dict, parameters=parameters)
font = cv2.FONT_HERSHEY_SIMPLEX
if np.all(ids != None):
# POSE ESTIMATION
rvec, tvec,_ = aruco.estimatePoseSingleMarkers(corners[0], 0.1, mtx, dist)