aruco - put cube on marker 在二維碼上放立方體

實作在姿態辨識之後

在marker上用線畫出正立方體

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程式碼:

void drawCube(Mat intrinsic, Mat distortion, Vec3d rvec, Vec3d tvec, Mat _frame)
{
 double unit = 0.05;
 Mat frame = _frame.clone();

 Point3d pointO = Point3d(0, 0, 0);
 Point3d pointX = Point3d(unit, 0, 0);
 Point3d pointXY = Point3d(unit, unit, 0);
 Point3d pointY = Point3d(0, unit, 0);

 Point3d pointZ = Point3d(0, 0, unit);
 Point3d pointXZ = Point3d(unit, 0, unit);
 Point3d pointXYZ = Point3d(unit, unit, unit);
 Point3d pointYZ = Point3d(0, unit, unit);
 

 vector<Point3f> Point3D;
 vector<Point2f> Point2D;

 Point3D.push_back(pointO);
 Point3D.push_back(pointX);
 Point3D.push_back(pointXY);
 Point3D.push_back(pointY);

 Point3D.push_back(pointZ);
 Point3D.push_back(pointXZ);
 Point3D.push_back(pointXYZ);
 Point3D.push_back(pointYZ);


 projectPoints(Point3D, rvec, tvec, intrinsic, distortion, Point2D);

 circle(frame, cv::Point(Point2D[0].x, Point2D[0].y), 3, Scalar(255, 0, 255));
 circle(frame, cv::Point(Point2D[1].x, Point2D[1].y), 3, Scalar(255, 0, 255));
 circle(frame, cv::Point(Point2D[2].x, Point2D[2].y), 3, Scalar(255, 0, 255));
 circle(frame, cv::Point(Point2D[3].x, Point2D[3].y), 3, Scalar(255, 0, 255));

 //底板兒
 line(frame, cv::Point(Point2D[0].x, Point2D[0].y), cv::Point(Point2D[1].x, Point2D[1].y), Scalar(0, 255, 255), 2, 8, 0);
 line(frame, cv::Point(Point2D[1].x, Point2D[1].y), cv::Point(Point2D[2].x, Point2D[2].y), Scalar(0, 255, 255), 2, 8, 0);
 line(frame, cv::Point(Point2D[2].x, Point2D[2].y), cv::Point(Point2D[3].x, Point2D[3].y), Scalar(0, 255, 255), 2, 8, 0);
 line(frame, cv::Point(Point2D[3].x, Point2D[3].y), cv::Point(Point2D[0].x, Point2D[0].y), Scalar(0, 255, 255), 2, 8, 0);

 
 //直立四柱
 line(frame, cv::Point(Point2D[0].x, Point2D[0].y), cv::Point(Point2D[4].x, Point2D[4].y), Scalar(0, 0, 255), 2, 8, 0);
 line(frame, cv::Point(Point2D[1].x, Point2D[1].y), cv::Point(Point2D[5].x, Point2D[5].y), Scalar(0, 0, 255), 2, 8, 0);
 line(frame, cv::Point(Point2D[2].x, Point2D[2].y), cv::Point(Point2D[6].x, Point2D[6].y), Scalar(0, 0, 255), 2, 8, 0);
 line(frame, cv::Point(Point2D[3].x, Point2D[3].y), cv::Point(Point2D[7].x, Point2D[7].y), Scalar(0, 0, 255), 2, 8, 0);

 //蓋子
 line(frame, cv::Point(Point2D[7].x, Point2D[7].y), cv::Point(Point2D[4].x, Point2D[4].y), Scalar(0, 255, 0), 2, 8, 0);
 line(frame, cv::Point(Point2D[4].x, Point2D[4].y), cv::Point(Point2D[5].x, Point2D[5].y), Scalar(0, 255, 0), 2, 8, 0);
 line(frame, cv::Point(Point2D[5].x, Point2D[5].y), cv::Point(Point2D[6].x, Point2D[6].y), Scalar(0, 255, 0), 2, 8, 0);
 line(frame, cv::Point(Point2D[6].x, Point2D[6].y), cv::Point(Point2D[7].x, Point2D[7].y), Scalar(0, 255, 0), 2, 8, 0);

 imshow("Cube", frame);
}

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運行結果: