CODEWITHSUNDEEP
pythonopencvarucopose
Matheus
Matheus

Reputation: 33

Solve PnP or Estimate Pose Single Markers: which is better?

I need a program to estimate the pose of an ArUco marker, and, as far as I know, I can code it with two different functions: cv2.solvePnp() or cv2.aruco.estimatePoseSingleMarker(). Which one is better? I read about them, and it seems easier to use cv2.aruco.estimatePoseSingleMarker(), but is it as accurate as cv2.solvePnP()? Thanks

I am a graduating student, and I need this information because I am doing a research with a teacher.

Upvotes: 2

Views: 5188

Answers (1)

user1270710
user1270710

Reputation: 639

estimatePoseSingleMarkers no longer exists as of version 4.7. Here, I replaced the function for you using SolvePnP:

def my_estimatePoseSingleMarkers(corners, marker_size, mtx, distortion):
    '''
    This will estimate the rvec and tvec for each of the marker corners detected by:
       corners, ids, rejectedImgPoints = detector.detectMarkers(image)
    corners - is an array of detected corners for each detected marker in the image
    marker_size - is the size of the detected markers
    mtx - is the camera matrix
    distortion - is the camera distortion matrix
    RETURN list of rvecs, tvecs, and trash (so that it corresponds to the old estimatePoseSingleMarkers())
    '''
    marker_points = np.array([[-marker_size / 2, marker_size / 2, 0],
                              [marker_size / 2, marker_size / 2, 0],
                              [marker_size / 2, -marker_size / 2, 0],
                              [-marker_size / 2, -marker_size / 2, 0]], dtype=np.float32)
    trash = []
    rvecs = []
    tvecs = []
    
    for c in corners:
        nada, R, t = cv2.solvePnP(marker_points, c, mtx, distortion, False, cv2.SOLVEPNP_IPPE_SQUARE)
        rvecs.append(R)
        tvecs.append(t)
        trash.append(nada)
    return rvecs, tvecs, trash

Upvotes: 9

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