ArUco Library 增强现实库-相机校准

https://docs.google.com/document/d/1QU9KoBtjSM2kF6ITOjQ76xqL7H0TEtXriJX5kwi9Kgc/edit

 

q@z-OptiPlex-9020:~/Desktop/aruco-3.1.0/build/utils_calibration$ ./aruco_calibration_fromimages mycalibrationfile.yml . -size 0.03
将图片放到aruco_calibration_fromimages可执行程序同目录，然后执行上述指令。

运行时截图：

得到的校准文件内容mycalibrationfile.yml 

 

%YAML:1.0
---
image_width: 640
image_height: 480
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 8.4585493880125250e+02, 0., 3.1675507917286166e+02, 0.,
       8.3237579149291980e+02, 2.5818194017040628e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 1
   cols: 5
   dt: d
   data: [ -3.5357129501910368e-02, 1.1110168134789529e+00,
       -1.7641632747679876e-04, -1.3071425287465950e-02,
       -6.4802613038741050e+00 ]

自定义词典

q@z-OptiPlex-9020:~/Desktop/aruco-3.1.0/build/utils$ ./aruco_print_dictionary img/ dic/myown.dic 
img//myown_00002.png
img//myown_00000.png
img//myown_00001.png
q@z-OptiPlex-9020:~/Desktop/aruco-3.1.0/build/utils$ cat dic/myown.dic 
name MYOWN
nbits  9
010001001
111101010
000001100

q@z-OptiPlex-9020:~/Desktop/aruco-3.1.0/build/utils$