vendor: OpenCV 5.0.0 snapshot at 755e50675d97db9b7d449d8bd6b09888646f6c6e

2026-08-22 00:11:13 +08:00
commit 12022378a3
3872 changed files with 2513409 additions and 0 deletions
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+import numpy as np
+import cv2 as cv
+
+# aruco
+adict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_4X4_50)
+cv.imshow("marker", adict.generateImageMarker(0, 400))
+
+# random calibration data. your mileage may vary.
+imsize = (800, 600)
+K = cv.getDefaultNewCameraMatrix(np.diag([800, 800, 1]), imsize, True)
+
+# AR scene
+cv.ovis.addResourceLocation("packs/Sinbad.zip") # shipped with Ogre
+
+win = cv.ovis.createWindow("arucoAR", imsize, flags=0)
+win.setCameraIntrinsics(K, imsize)
+win.createEntity("figure", "Sinbad.mesh", (0, 0, 5), (1.57, 0, 0))
+win.createLightEntity("sun", (0, 0, 100))
+
+# video capture
+cap = cv.VideoCapture(0)
+cap.set(cv.CAP_PROP_FRAME_WIDTH, imsize[0])
+cap.set(cv.CAP_PROP_FRAME_HEIGHT, imsize[1])
+
+while cv.ovis.waitKey(1) != 27:
+    img = cap.read()[1]
+    win.setBackground(img)
+    corners, ids = cv.aruco.detectMarkers(img, adict)[:2]
+
+    cv.waitKey(1)
+
+    if ids is None:
+        continue
+
+    rvecs, tvecs = cv.aruco.estimatePoseSingleMarkers(corners, 5, K, None)[:2]
+    win.setCameraPose(tvecs[0].ravel(), rvecs[0].ravel(), invert=True)