Aruco Kod

[Plavsic-Nikola]

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

Biblioteka prepoznaje markere od 0-49

aruco_dict = aruco.getPredefinedDictionary(aruco.DICT_4X4_50)
parameters = aruco.DetectorParameters()
detector = aruco.ArucoDetector(aruco_dict, parameters)

cap = cv2.VideoCapture(0, cv2.CAP_DSHOW)

Promeniti broj 0 sa drugim brojem u slucaju da kamera ne radi

try:
while True:
ret, frame = cap.read()
if not ret:
print("Failed to grab frame")
break

    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)

    # Detekcija markera
    corners, ids, rejected = detector.detectMarkers(gray)

    if ids is not None:
        # Crtaj sve markere
        aruco.drawDetectedMarkers(frame, corners, ids)

        # Sortiranje markera
        id_x_pairs = []

        for corner, marker_id in zip(corners, ids.flatten()):
            cx = np.mean(corner[0][:, 0])
            id_x_pairs.append((cx, marker_id))

        id_x_pairs.sort(key=lambda x: x[0])

        sorted_ids = [pair[1] for pair in id_x_pairs]

        output = ", ".join([f"{mid}" for mid in sorted_ids])
        print(output)

    cv2.imshow("Frame", frame) # Pokazuje sliku kamere 

    if cv2.waitKey(1) & 0xFF == ord('q'): # Program se skroz gasi na dugme 'q'
        break

finally:
cap.release()
cv2.destroyAllWindows()