aruco - put image on marker 在二維碼上放圖片

實作在姿態辨識之後

利用opencv的透視轉換函式把圖片放到二維碼上

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程式碼:

void putPicture(Mat intrinsic, Mat distortion, Vec3d rvec, Vec3d tvec, Mat _frame)
{
 Mat frame = _frame.clone();

 Mat img_input = imread(".//data//squirrel.jpg");
 Mat img_perspective = Mat::zeros(frame.size(), frame.type());

 float unit = 0.05;

 Point3f pointO = Point3f(-unit, -unit, unit);
 Point3f pointX = Point3f(-unit, unit, unit);
 Point3f pointXY = Point3f(unit, unit, unit);
 Point3f pointY = Point3f(unit, -unit, unit);

 vector<Point3f> Point3D;
 vector<Point2f> Point2D;
 Point3D.push_back(pointO);
 Point3D.push_back(pointX);
 Point3D.push_back(pointXY);
 Point3D.push_back(pointY);

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

 //求圖片的透視矩陣
 Point2f srcTri[4];
 srcTri[0] = Point2f(0, 0);
 srcTri[1] = Point2f(img_input.cols - 1, 0);
 srcTri[2] = Point2f(img_input.cols - 1, img_input.rows - 1);
 srcTri[3] = Point2f(0, img_input.rows - 1);

 Point2f dstTri[4];
 dstTri[0] = Point2D[0];
 dstTri[1] = Point2D[1];
 dstTri[2] = Point2D[2];
 dstTri[3] = Point2D[3];

 //做圖片的透視轉換
 Mat perspective_matrix = getPerspectiveTransform(srcTri, dstTri);
 warpPerspective(img_input, img_perspective, perspective_matrix, img_perspective.size());

 //把透視轉換後的圖片貼到視訊影像上
 for (int r = 0; r < frame.rows; r++)
 {
  for (int c = 0; c < frame.cols; c++)
  {
   if ((img_perspective.at<Vec3b>(r,c)[0]!=0)&& (img_perspective.at<Vec3b>(r, c)[1] != 0)&& (img_perspective.at<Vec3b>(r, c)[2] != 0))
   {
    frame.at<Vec3b>(r, c)[0] = img_perspective.at<Vec3b>(r, c)[0];
    frame.at<Vec3b>(r, c)[1] = img_perspective.at<Vec3b>(r, c)[1];
    frame.at<Vec3b>(r, c)[2] = img_perspective.at<Vec3b>(r, c)[2];
   }
  }
 }

 imshow("putPicture", frame);
}

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運行結果: