pos.py

import numpy as np
import cv2
import glob
import sys

# Load previously saved data
#with np.load('B.npz') as X:
#    mtx, dist, _, _ = [X[i] for i in ('mtx','dist','rvecs','tvecs')]


#corners = 
markerLength = 2 
cameraMatrix = np.array([[1.44727245e+04 0.00000000e+00 1.38375952e+03][0.00000000e+00 1.41444917e+04 9.80085072e+02][0.00000000e+00 0.00000000e+00 1.00000000e+00]])
#distCoeffs[, rvecs[, tvecs[, _objPoints]]]
distCoeffs = (1944, 2592)
rvecs, tvecs, _objPoints	=	cv.aruco.estimatePoseSingleMarkers(	corners, markerLength, cameraMatrix, distCoeffs[, rvecs[, tvecs[, _objPoints]]]	)

def draw(img, corners, imgpts):
    corner = tuple(corners[0].ravel())
    img = cv2.line(img, corner, tuple(imgpts[0].ravel()), (255,0,0), 5)
    img = cv2.line(img, corner, tuple(imgpts[1].ravel()), (0,255,0), 5)
    img = cv2.line(img, corner, tuple(imgpts[2].ravel()), (0,0,255), 5)
    return img
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
objp = np.zeros((6*7,3), np.float32)
objp[:,:2] = np.mgrid[0:7,0:6].T.reshape(-1,2)

axis = np.float32([[3,0,0], [0,3,0], [0,0,-3]]).reshape(-1,3)

for fname in glob.glob('*.jpg'):
    img = cv2.imread(fname)
    gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
    ret, corners = cv2.findChessboardCorners(gray, (9,6),None)

    if ret == True:
        corners2 = cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria)

        # Find the rotation and translation vectors.
        rvecs, tvecs, inliers = cv2.solvePnPRansac(objp, corners2, mtx, dist)

        # project 3D points to image plane
        imgpts, jac = cv2.projectPoints(axis, rvecs, tvecs, mtx, dist)

        img = draw(img,corners2,imgpts)
        cv2.imshow('img',img)
        k = cv2.waitKey(0) & 0xff
        if k == 's':
            cv2.imwrite(fname[:6]+'.png', img)

cv2.destroyAllWindows()

#print(rvecs)
#print("")
#print(tvecs)
#print("")
#print(_objPoints)
#print("")