read_marker.py

import cv2.aruco as aruco
import numpy as np
from utils.utils import *


def main():
    im = cv2.imread('images/IMG_0081.jpg', cv2.IMREAD_COLOR)
    marker_sz = 11.1    #cm (same units used to report tvecs)
    camera_matrix = np.array([[1776,0,762],[0,1780,1025],[0,0,1]],dtype=float)  #cx,cy ~= im.shape[1],im.shape[0]
    dist_coeffs = np.array([[0,0,0,0]],dtype=float) #need to be float type

    aruco_dict = aruco.Dictionary_get(aruco.DICT_6X6_250)
    aruco_params = aruco.DetectorParameters_create()
    corners, ids, rejectedPts = aruco.detectMarkers(im, aruco_dict, parameters=aruco_params) #print np.squeeze(corners[0]).shape

    im = aruco.drawDetectedMarkers(im, corners, ids=ids, borderColor=1)

    rvecs, tvecs = aruco.estimatePoseSingleMarkers(corners, marker_sz, camera_matrix, dist_coeffs); #print rvecs
    if rvecs is not None:
        im = aruco.drawAxis(im, camera_matrix, dist_coeffs, rvecs, tvecs, marker_sz)

    cvDrawWindow('im',im, .3,1)

    cv2.destroyAllWindows()

if __name__ == '__main__':
    main()