USB摄像头实时检测ArUco的python代码树莓派ubuntu可用

#!/usr/bin/python # -*- coding: gbk -*- import cv2 import cv2.aruco as aruco import math import time # 创建ArUco字典，可根据检测的字典家族修改参数 aruco_dict = aruco.getPredefinedDictionary(aruco.DICT_4X4_50) # 设置ArUco标记的大小 marker_size = 5 # 创建ArUco参数 parameters = aruco.DetectorParameters() # 核心检测函数 def ArUco_detect(frame): # 将每一帧转换为灰度图像 gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY) # 检测ArUco标记 corners, ids, rejected = aruco.detectMarkers(gray, aruco_dict, parameters=parameters) # 在检测到的标记上绘制边框和标记ID if len(corners) > 0: aruco.drawDetectedMarkers(frame, corners, ids) # 计算目标距离图像中心点的偏差 center_x = frame.shape[1] // 2 center_y = frame.shape[0] // 2 marker_center_x = (corners[0][0][0][0] + corners[0][0][2][0]) // 2 marker_center_y = (corners[0][0][0][1] + corners[0][0][2][1]) // 2 err_x = marker_center_x - center_x err_y = marker_center_y - center_y # 打印相关信息 print("检测到ArUco标识物！") print("目标距离图像中心点的偏差：err_x = {}, err_y = {}".format(err_x, err_y)) else: # 打印相关信息 print("未检测到ArUco标识物！") return frame # 调用摄像头捕获视频 def get_video(): # 程序主循环计时统计 num_frames = 0 total_time = 0 min_time = float('inf') max_time = 0 # 调用摄像头,0是默认摄像头，1是外置摄像头 cap = cv2.VideoCapture(0) # 打开cap cap.open(0) #视频尺寸 frame_size = (cap.get(cv2.CAP_PROP_FRAME_WIDTH), cap.get(cv2.CAP_PROP_FRAME_HEIGHT)) # --!!!关键部分，无限循环-- while cap.isOpened(): # 程序主循环计时开始 start_time = time.time() # 获取画面 success, frame = cap.read() # 未捕获到，报错并退出 if not success: print('Error! VideoCapture is not success!') break # 调整图像大小 frame = cv2.resize(frame, None, fx=2.0, fy=2.0, interpolation=cv2.INTER_LINEAR) # 对每帧进行处理 frame = ArUco_detect(frame) # 主循环 # 在图像上绘制分辨率信息 resolution_text = "Resolution: {}x{}".format(frame.shape[1], frame.shape[0]) cv2.putText(frame, resolution_text, (10, 30), cv2.FONT_HERSHEY_PLAIN, 1, (0, 255, 0), 2) # 实时显示图像 cv2.imshow('press q to quit', cv2.resize(frame, (960, 540))) # 程序主循环计时结束并打印总用时 end_time = time.time() frame_time = end_time - start_time print("[INFO] dT: {:.6f} seconds.".format(frame_time)) # 更新计时统计 total_time += frame_time min_time = min(min_time, frame_time) max_time = max(max_time, frame_time) num_frames += 1 # 按q或esc退出 if cv2.waitKey(1) in [ord('q'), 27]: break # 关闭图像窗口 cv2.destroyAllWindows() # 关闭摄像头 cap.release() # 打印计时统计结果 avg_time = total_time / num_frames print("[INFO] Total frames: {:d}".format(num_frames)) print("[INFO] Average frame time: {:.5f} seconds".format(avg_time)) print("[INFO] Minimum frame time: {:.5f} seconds".format(min_time)) print("[INFO] Maximum frame time: {:.5f} seconds".format(max_time)) def main(): get_video() if __name__ == '__main__': print("ArUco_detection.py is running") main() print("ArUco_detection.py shutdown")