2021 Jan 3, khwong on aruoc tracker and camera calibration
https://github.com/njanirudh/Aruco_Tracker
Run in anaconda
>python aruco_tracker.py
This code requires
calib_images\test.yaml
test.yaml contains:
%YAML:1.0
---
camera_matrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 5.3434144581886574e+02, 0., 3.3915527827821677e+02, 0.,
5.3468425885264753e+02, 2.3384359500370661e+02, 0., 0., 1. ]
dist_coeff: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ -2.8832098297697173e-01, 5.4107969319310958e-02,
1.7350162211614366e-03, -2.6133389355610447e-04,
2.0411046216391926e-01 ]
---may need a camera calibration tool to find the intrinsic parameters
https://github.com/ObeidaElJundi/Camera-Calibration
1) the square_size is 20mm by default, (my board uses 25mm, so change it in line 24
square_size = 20.0 # size of square on the Checkerboard in mm
Can use board is http://www.cse.cuhk.edu.hk/~khwong/www2/cmsc5711/ChessBoard.pdf
2) In RT (extrinsic parameters) obtained in \output directory generated , The unit of T is multiple of square size (see above).