在openCV中以特定坐标显示另一幅图像上的图像 [英] Display an image over another image at a particular co-ordinates in openCV

问题描述

我正在尝试以特定坐标在另一个图像上显示一个图像.我已使用网络摄像头检测到aruco标记，我想在aruco标记上显示另一幅图像.可以移动aruco标记，并且覆盖的图像应与标记一起移动.

I am trying to display an image over another image at a particular co-ordinates. I have detected the aruco markers using the webcam and I want to display another image over the aruco marker. The aruco marker can be moved and the overlaying image should move along with the marker.

有各种绘制功能，可以将文本输入到图像中.我已经尝试过图像叠加和单应性.

There is various draw functions and to input text into the image. I have tried image overlay and image homography.

我可以获取角点的坐标.有什么功能可以在这些坐标处插入图像吗?

I can obtain the co-ordinates for the corners. Is there any function to insert the image at those co-ordinates?

import cv2
import cv2.aruco as aruco
import glob

markerLength = 0.25

cap = cv2.VideoCapture(0)

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)

objpoints = [] 
imgpoints = []

images = glob.glob('calib_images/*.jpg')

for fname in images:
    img = cv2.imread(fname)
    gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)

    ret, corners = cv2.findChessboardCorners(gray, (7,6),None)

    if ret == True:
        objpoints.append(objp)

        corners2 = cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria)
        imgpoints.append(corners2)
        img = cv2.drawChessboardCorners(img, (7,6), corners2,ret)


ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1],None,None)

calibrationFile = "calibrationFileName.xml"
calibrationParams = cv2.FileStorage(calibrationFile, cv2.FILE_STORAGE_READ) 
camera_matrix = calibrationParams.getNode("cameraMatrix").mat() 
dist_coeffs = calibrationParams.getNode("distCoeffs").mat() 

while(True):
    ret, frame = cap.read()

    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
    aruco_dict = aruco.Dictionary_get(aruco.DICT_6X6_250)
    arucoParameters =  aruco.DetectorParameters_create()

    corners, ids, rejectedImgPoints = aruco.detectMarkers(gray, aruco_dict, parameters=arucoParameters)
    if np.all(ids != None):
        rvec, tvec, _ = aruco.estimatePoseSingleMarkers(corners, markerLength, mtx, dist) 
        axis = aruco.drawAxis(frame, mtx, dist, rvec, tvec, 0.3) 
        print(ids)
        display = aruco.drawDetectedMarkers(axis, corners)
        display = np.array(display)
    else:
        display = frame

    cv2.imshow('Display',display)
    if cv2.waitKey(1) & 0xFF == ord('q'):
            break

cap.release()
cv2.destroyAllWindows()```

推荐答案

实际上，我发现可以使用图像单应性来做到这一点.这是更新的代码.

Actually, I found that image homography can be used to do it. Here is the updated code.

import numpy as np
import cv2
import cv2.aruco as aruco

cap = cv2.VideoCapture(0)

while(True):
    ret, frame = cap.read()

    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
    aruco_dict = aruco.Dictionary_get(aruco.DICT_6X6_250)
    arucoParameters =  aruco.DetectorParameters_create()

    corners, ids, rejectedImgPoints = aruco.detectMarkers(gray, aruco_dict, parameters=arucoParameters)
    if np.all(ids != None):
        display = aruco.drawDetectedMarkers(frame, corners)
        x1 = (corners[0][0][0][0], corners[0][0][0][1]) 
        x2 = (corners[0][0][1][0], corners[0][0][1][1]) 
        x3 = (corners[0][0][2][0], corners[0][0][2][1]) 
        x4 = (corners[0][0][3][0], corners[0][0][3][1])  

        im_dst = frame 
        im_src = cv2.imread("mask.jpg")
        size = im_src.shape
        pts_dst = np.array([x1,x2,x3,x4])
        pts_src = np.array(
                       [
                        [0,0],
                        [size[1] - 1, 0],
                        [size[1] - 1, size[0] -1],
                        [0, size[0] - 1 ]
                        ],dtype=float
                       );


        h, status = cv2.findHomography(pts_src, pts_dst)
        temp = cv2.warpPerspective(im_src, h, (im_dst.shape[1],im_dst.shape[0])) 
        cv2.fillConvexPoly(im_dst, pts_dst.astype(int), 0, 16);
        im_dst = im_dst + temp  
        cv2.imshow('Display',im_dst) 
    else:
        display = frame
        cv2.imshow('Display',display)
    if cv2.waitKey(1) & 0xFF == ord('q'):
            break

cap.release()
cv2.destroyAllWindows()

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