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("patch") crash avec beaucoup de tag ArUco

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Ackimixs_
2023-12-13 18:19:18 +01:00
parent 058a60ac73
commit 315f57ec2c
1 changed files with 12 additions and 5 deletions
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17
aruco.py
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@@ -37,7 +37,7 @@ while True:
# Dessiner les résultats # Dessiner les résultats
if ids is not None: if ids is not None:
#aruco.drawDetectedMarkers(frame, corners, ids) aruco.drawDetectedMarkers(frame, corners, ids)
for i in range(len(ids)): for i in range(len(ids)):
@@ -48,7 +48,11 @@ while True:
if markerID not in arucoTagMapping: if markerID not in arucoTagMapping:
continue continue
corners = markerCorner.reshape((4, 2)) try:
corners = markerCorner.reshape((4, 2))
except:
continue
(topLeft, topRight, bottomRight, bottomLeft) = corners (topLeft, topRight, bottomRight, bottomLeft) = corners
topRight = (int(topRight[0]), int(topRight[1])) topRight = (int(topRight[0]), int(topRight[1]))
@@ -79,11 +83,14 @@ while True:
angle_to_tag_horizontal_deg = np.degrees(angle_to_tag_horizontal) angle_to_tag_horizontal_deg = np.degrees(angle_to_tag_horizontal)
# Affichage des informations # Affichage des informations
cv.putText(frame, f"{arucoTagMapping[markerID][0]}", (topLeft[0], topLeft[1] - 45), cv.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2) cv.putText(frame, f"{arucoTagMapping[markerID][0]}", (topLeft[0], topLeft[1] - 45),
cv.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
distance_str = "{:.2f}".format(D) distance_str = "{:.2f}".format(D)
cv.putText(frame, f"Distance : {distance_str} cm", (topLeft[0], topLeft[1] - 30), cv.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2) cv.putText(frame, f"Distance : {distance_str} cm", (topLeft[0], topLeft[1] - 30),
cv.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
angle_str = "{:.2f}".format(angle_to_tag_horizontal_deg) angle_str = "{:.2f}".format(angle_to_tag_horizontal_deg)
cv.putText(frame, f"Angle : {angle_str} degrees", (topLeft[0], topLeft[1] - 15), cv.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2) cv.putText(frame, f"Angle : {angle_str} degrees", (topLeft[0], topLeft[1] - 15),
cv.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
print(f"{arucoTagMapping[markerID][0]} : {angle_to_tag_horizontal_deg} degrees, {D} cm") print(f"{arucoTagMapping[markerID][0]} : {angle_to_tag_horizontal_deg} degrees, {D} cm")
# Afficher l'image # Afficher l'image