saprrow / charuco-pose-estimation

ChArUco pose estimation using OpenCV

charuco-pose-estimation

ChArUco pose estimation using OpenCV

1. 
2. Print out charuco_board.png and take a picture of it, name the picture image.png. Make sure not to accidentally stretch the image during print.
3. Measure the actual square length and marker length of the printout, and change it in the code respectively
4. Create intrinsic.txt with camera intrinsic matrix
5. Upload image.png and intrinsic.txt to the current directory at the "Files" bar on the left
6. Click "Runtime" and "Run all" and see the output file charuco_tf.txt and camera_tf.txt in the current directory

Create ChArUco

Detect markers

Detect ChArUco

Projection

Printer settings for Windows

• Uncheck Fit picture to frame:

  

• Select Shrink to Fit: