I'm trying to detect a 3x3 Aruco board.
The code runs until the params on line 33 are met, then line 35 throws the same error regardless of how many markers are in frame (i.e. between 1 and all 9)
The output is
width: 3
height: 3
marker_size: 0.05
marker_separation: 0.05
cameraMat: D:ArucoCameraCalibL515_camMat_0.37.dat
distCoeff: D:ArucoCameraCalibL515_distCoeffs_0.37.dat
output:
width: 700
height: 700
margin: 10
[597.43121351 0. 317.54758687 0. 597.50401806
264.76581981 0. 0. 1. ]
[ 0.07009082 0.15721941 0.00925155 -0.00357965 -0.9931981 ]
None None
Traceback (most recent call last):
File "d:ArucoCameraPosepose.py", line 35, in mainFunc
success, rvec, tvec = cv.aruco.estimatePoseBoard(corners, ids, board, cameraMatrix, distCoeffs, rvec, tvec)
cv2.error: OpenCV(4.5.1) C:UsersappveyorAppDataLocalTemp1pip-req-build-i1s8y2i1opencvmodulescoresrcconvert_c.cpp:112: error: (-215:Assertion failed) src.size == dst.size && src.channels() == dst.channels() in function 'cvConvertScale'
The whole script is
import cv2 as cv
from omegaconf import DictConfig, OmegaConf
import numpy as np
import hydra
vid = cv.VideoCapture(1)
@hydra.main(config_name='config')
def mainFunc(cfg: DictConfig) -> None:
print(OmegaConf.to_yaml(cfg))
# camera parameters are read from somewhere
cameraMatrix = np.fromfile("D:ArucoCameraCalibL515_camMat_0.37.dat")
print(cameraMatrix)
distCoeffs = np.fromfile("D:ArucoCameraCalibL515_distCoeffs_0.37.dat")
print(distCoeffs)
# create the board
markerDict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_4X4_50)
board = cv.aruco.GridBoard_create(cfg.width,cfg.height, cfg.marker_size, cfg.marker_separation, markerDict)
rvec = None
tvec = None
while(True):
# get frame from camera
ret, inputImg = vid.read()
gray = cv.cvtColor(inputImg, cv.COLOR_BGR2GRAY)
# detect markers
corners, ids, reject = cv.aruco.detectMarkers(gray, markerDict, cameraMatrix=cameraMatrix, distCoeff=distCoeffs)
# if at least one marker detected
if (len(corners) > 0) and (len(ids) > 0):
print(rvec, tvec)
success, rvec, tvec = cv.aruco.estimatePoseBoard(corners, ids, board, cameraMatrix, distCoeffs, rvec, tvec)
if success > 0:
gray = cv.aruco.drawAxis(gray, cameraMatrix, distCoeffs, rvec, tvec, 0.05)
cv.imshow('frame', gray)
#print(gray.shape)
cv.waitKey(1)
if __name__ == "__main__":
mainFunc()
I've also tried scripts written by others (Link) that claim to do the same thing, they fail in the same way on the same function call
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