Python+OpenCV：姿态估计（Pose Estimation）

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# 姿态估计(Pose Estimation)
def lmc_cv_pose_estimation(method):"""函数功能: 姿态估计(Pose Estimation)。"""# Load previously saved datawith np.load('Calibration parameters.npz') as X:camera_matrix, dist_coeffs, rvecs, tvecs = [X[i] for i in ('mtx', 'dist', 'rvecs', 'tvecs')]# 终止条件(termination criteria)criteria = (lmc_cv.TERM_CRITERIA_EPS + lmc_cv.TERM_CRITERIA_MAX_ITER, 30, 0.001)# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)objp = np.zeros((6 * 7, 3), np.float32)objp[:, :2] = np.mgrid[0:7, 0:6].T.reshape(-1, 2)# draw a cube or a three-dimensional coordinate axisaxis = []if 0 == method:axis = np.float32([[3, 0, 0], [0, 3, 0], [0, 0, -3]]).reshape(-1, 3)if 1 == method:axis = np.float32([[0, 0, 0], [0, 3, 0], [3, 3, 0], [3, 0, 0],[0, 0, -3], [0, 3, -3], [3, 3, -3], [3, 0, -3]])# 读取所有匹配的图像stacking_images = []corners_image = []gray_image = []images = glob.glob('D:/99-Research/TestData/cv/stereo/case1/left*.png')for image_name in images:image = lmc_cv.imread(image_name, lmc_cv.IMREAD_UNCHANGED)image = lmc_cv.cvtColor(image, lmc_cv.COLOR_BGR2RGB)corners_image = image.copy()gray_image = lmc_cv.cvtColor(image, lmc_cv.COLOR_BGR2GRAY)# Find the chess board cornersret, corners = lmc_cv.findChessboardCorners(gray_image, (7, 6), None)# If found, add object points, image points (after refining them)if ret:# 亚像素角点corners2 = lmc_cv.cornerSubPix(gray_image, corners, (11, 11), (-1, -1), criteria)# Find the rotation and translation vectors.ret, rvecs, tvecs = lmc_cv.solvePnP(objp, corners2, camera_matrix, dist_coeffs)# project 3D points to image planeimgpts, jac = lmc_cv.projectPoints(axis, rvecs, tvecs, camera_matrix, dist_coeffs)# 绘制三维坐标轴corners_image = lmc_cv_draw_3d_coordinate_axis(method, corners_image, corners2, imgpts)# stacking images side-by-sidestacking_image = np.hstack((image, corners_image))stacking_images.append(stacking_image)# 显示图像for i in range(len(stacking_images)):pyplot.figure('Pose Estimation %d' % (i + 1), figsize=(16, 9))# pyplot.subplot(1, 1, 1)pyplot.imshow(stacking_images[i], 'gray')pyplot.title('Pose Estimation')pyplot.xticks([])pyplot.yticks([])pyplot.savefig('%02d.png' % (i + 1))pyplot.show()

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# 绘制3D轴
def lmc_cv_draw_3d_coordinate_axis(method, image, corners, imgpts):if 0 == method:corners = np.int32(corners)imgpts = np.int32(imgpts)corner = tuple(corners[0].ravel())image = lmc_cv.line(image, corner, tuple(imgpts[0].ravel()), (255, 0, 0), 5)image = lmc_cv.line(image, corner, tuple(imgpts[1].ravel()), (0, 255, 0), 5)image = lmc_cv.line(image, corner, tuple(imgpts[2].ravel()), (0, 0, 255), 5)if 1 == method:imgpts = np.int32(imgpts).reshape(-1, 2)# draw ground floor in greenimage = lmc_cv.drawContours(image, [imgpts[:4]], -1, (0, 255, 0), -3)# draw pillars in blue colorfor i, j in zip(range(4), range(4, 8)):image = lmc_cv.line(image, tuple(imgpts[i]), tuple(imgpts[j]), 255, 3)# draw top layer in red colorimage = lmc_cv.drawContours(image, [imgpts[4:]], -1, (0, 0, 255), 3)return image

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Python+OpenCV：姿态估计（Pose Estimation）

Python+OpenCV：姿态估计（Pose Estimation）

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