Hi, I am using the pupil-apriltag to do some detection. It works well on my built-in camera on my Mac. However, when I try with my usb acr010 webcam, it doesn't work. I have calibrated my webcam and the frame shows on the windows. The frame rate is about 12, however, it doesn't detect apriltag at all.
Here below is my code that running a webcam to detect the Apriltags continuously and a simple test for one of the image that captured by my webcam.
import os
import time
import cv2
import numpy as np
from pupil_apriltags import Detector
# Camera information, NOT CONFIGURED
# FPS = 50
RES = (1920, 1080)
camera_info = {}
# Camera Resolution
camera_info["res"] = RES
# Camera Intrinsic Matrix (3x3)
camera_info["K"] = np.array([[1129.106419355741, 0.0, 958.2530752561653],
[0.0, 1126.3550177287352, 546.954031682053],
[0.0, 0.0, 1.0]])
# Fisheye Camera Distortion Matrix
camera_info["D"] = np.array([[-0.09285509543388772],
[0.08508622717322474],
[-0.148664219994183],
[0.10812148818670442]])
# The non-default elements of the K array, in the AprilTag specification
camera_info["params"] = [1129.106, 1126.355, 958.253, 546.954]
# Fisheye flag
camera_info["fisheye"] = True
camera_info["map_1"], camera_info["map_2"] = cv2.fisheye.initUndistortRectifyMap(camera_info["K"], camera_info["D"],
np.eye(3), camera_info["K"],
camera_info["res"], cv2.CV_16SC2)
# Tag information
TAG_SIZE = .123
FAMILIES = 'tag36h11'
def main():
print('\033]0;Video Base\007')
# Initialize the camera capture
camera = cv2.VideoCapture(0)
camera.set(3, RES[0]) # Set horizontal resolution
camera.set(4, RES[1]) # Set vertical resolution
# Configure the AprilTags detector
detector = Detector(families=FAMILIES, nthreads=4)
# Initialize variables for calculating frame rate
start_time = time.time()
frame_count = 0
while True:
# Capture frame from the camera
ret, frame = camera.read()
# Undistort the frame
# frame = cv2.remap(frame, camera_info["map_1"], camera_info["map_2"], interpolation=cv2.INTER_LINEAR,
# borderMode=cv2.BORDER_CONSTANT)
# Convert the frame to grayscale
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# Detect AprilTags in the grayscale image
results = detector.detect(gray, estimate_tag_pose=True, camera_params=camera_info["params"], tag_size=TAG_SIZE)
detected_tags = [tag.tag_id for tag in results]
# Draw bounding boxes and IDs on the frame
for tag in results:
# Add bounding rectangle
cv2.polylines(frame, [np.int32(tag.corners)], True, (0, 255, 0), thickness=2)
# Add Tag ID text
cv2.putText(frame, str(tag.tag_id),
org=(tag.corners[0, 0].astype(int) + 10, tag.corners[0, 1].astype(int) + 10),
fontFace=cv2.FONT_HERSHEY_SIMPLEX,
fontScale=0.8,
color=(0, 0, 255),
thickness=3)
cv2.circle(frame, tuple(tag.corners[0].astype(int)), 2, color=(255, 0, 255), thickness=2)
# Display rotation and translation
cv2.putText(frame, f"Rot: {tag.pose_R}",
(tag.corners[0][0].astype(int), tag.corners[0][1].astype(int) - 30),
cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2)
cv2.putText(frame, f"Trans: {tag.pose_t}",
(tag.corners[0][0].astype(int), tag.corners[0][1].astype(int) - 60),
cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2)
# Calculate frame rate
frame_count += 1
elapsed_time = time.time() - start_time
fps = frame_count / elapsed_time
# Display the frame rate on the frame
cv2.putText(frame, f"FPS: {fps:.2f}", (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
# Display the frame
cv2.imshow('AprilTags Detection', frame)
# Prepare the message
message = {
"badge_id": "B", # Replace with a unique ID for each badge
"detected_tags": detected_tags
}
if len(results) != 0:
print(message)
# Exit program when 'q' is pressed
if cv2.waitKey(1) & 0xFF == ord('q'):
break
# Release the camera and close windows
camera.release()
cv2.destroyAllWindows()
if __name__ == '__main__':
main()import pupil_apriltags as apriltag
import cv2
img = cv2.imread("test.jpg")
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
print("[INFO] detecting AprilTags...")
detector = apriltag.Detector(families="tag36h11")
results = detector.detect(gray)
print("[INFO] {} total AprilTags detected".format(len(results)))
for tag in results:
cv2.circle(img, tuple(tag.corners[0].astype(int)), 4,(255,0,0), 2) # left-top
cv2.circle(img, tuple(tag.corners[1].astype(int)), 4,(255,0,0), 2) # right-top
cv2.circle(img, tuple(tag.corners[2].astype(int)), 4,(255,0,0), 2) # right-bottom
cv2.circle(img, tuple(tag.corners[3].astype(int)), 4,(255,0,0), 2) # left-bottom
cv2.imshow("apriltag_test",img)
cv2.waitKey()
React
Typescript
Django
Laravel
Facebook
Microsoft
Google
Alibaba
D3
Tencent