modelec/detection_pot
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affichage de infos en direct

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Ackimixs_
2023-12-12 20:38:49 +01:00
parent 7127818f40
commit f8bbc20331
1 changed files with 25 additions and 6 deletions
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31
aruco.py
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@@ -2,9 +2,6 @@ import cv2 as cv
import cv2.aruco as aruco
import numpy as np
# Taille du tag aruco
ARUCO_WIDTH = 2.5
# Focal de la cam
# Calculer la focal avec le fichier get_the_focal.py
FOCAL_LENGTH = 600
@@ -28,6 +25,7 @@ parameters = aruco.DetectorParameters()
detector = aruco.ArucoDetector(aruco_dict, parameters)
while True:
# Lire une image depuis la caméra
ret, frame = cap.read()
@@ -39,7 +37,7 @@ while True:
# Dessiner les résultats
if ids is not None:
aruco.drawDetectedMarkers(frame, corners, ids)
#aruco.drawDetectedMarkers(frame, corners, ids)
for i in range(len(ids)):
@@ -53,20 +51,41 @@ while True:
corners = markerCorner.reshape((4, 2))
(topLeft, topRight, bottomRight, bottomLeft) = corners
topRight = (int(topRight[0]), int(topRight[1]))
bottomRight = (int(bottomRight[0]), int(bottomRight[1]))
bottomLeft = (int(bottomLeft[0]), int(bottomLeft[1]))
topLeft = (int(topLeft[0]), int(topLeft[1]))
center_x = int((topLeft[0] + topRight[0] + bottomRight[0] + bottomLeft[0]) / 4)
center_y = int((topLeft[1] + topRight[1] + bottomRight[1] + bottomLeft[1]) / 4)
# Calculate the apparent width in pixels
P = np.sqrt((topRight[0] - topLeft[0]) ** 2 + (topRight[1] - topLeft[1]) ** 2)
# Calculate the distance to the Aruco tag
D = (arucoTagMapping[markerID][1] * FOCAL_LENGTH) / P
print(f"Distance to : {arucoTagMapping[markerID][0]} : {D} cm")
tag_position_x = (topRight[0] + topLeft[0]) / 2
tag_position_y = (topRight[1] + bottomRight[1]) / 2
image_width = frame.shape[1]
image_height = frame.shape[0]
# Calcul de l'angle horizontal par rapport au centre de l'image
angle_to_tag_horizontal = np.arctan2(tag_position_x - (image_width / 2),
image_width / (2 * np.tan(np.radians(60))))
# Conversion de l'angle en degrés
angle_to_tag_horizontal_deg = np.degrees(angle_to_tag_horizontal)
# 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)
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)
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)
print(f"{arucoTagMapping[markerID][0]} : {angle_to_tag_horizontal_deg} degrees, {D} cm")
# Afficher l'image
cv.imshow('Frame', frame)