Question

我正在尝试校准笔记本电脑相机以检测aruco标记，并最终能够估计与标记的距离。我一直在使用here中提供的教程。

我已经解决了运行此代码时遇到的一些问题，但在实际尝试校准相机时遇到了麻烦。

if calibrate_camera == True:
img_list = []
i = 0
while i < numberOfImages:

    name = "C:/Users/Cory/aruco_data/" + str(i) + ".jpg"
    img = cv2.imread(name)
    img_list.append(img)
    h, w, c = img.shape
    i += 1

counter = []
corners_list = []
id_list = []
first = True
for im in img_list:
    img_gray = cv2.cvtColor(im,cv2.COLOR_RGB2GRAY)
    corners, ids, rejectedImgPoints = aruco.detectMarkers(img_gray, aruco_dict, parameters=arucoParams)
    if first == True:
        corners_list = corners
        print(type(corners))
        id_list.append(ids)
        first = False
    else:
        corners_list = np.vstack((corners_list, corners))
        id_list = np.vstack((id_list,ids))
    counter.append(ids)
    (len(counter))


counter = np.array(counter)
print ("Calibrating camera .... Please wait...")
mat = np.zeros((3,3), float)
ret, mtx, dist, rvecs, tvecs = aruco.calibrateCameraAruco(corners_list, id_list, counter, board, img_gray.shape, None, None )

“ TypeError：不支持ids数据类型= 17”

运行代码的最后一行时，将显示上述错误。我很困惑如何解决此问题并继续进行其余代码

aruco相机校准python

0 个答案: