search

microsoft / Azure-Kinect-Sensor-SDK

A cross platform (Linux and Windows) user mode SDK to read data from your Azure Kinect device.
https://Azure.com/Kinect
MIT License
1.47k stars 614 forks source link

[Ask a question] Error of Charuco board parameter #1845

Open CNCKNAM opened 1 year ago

CNCKNAM commented 1 year ago

https://github.com/microsoft/Azure-Kinect-Sensor-SDK/tree/develop/examples/calibration_registration/PlaneFiles

For example/calibration_registration/PlaneFiles In plane.json and plane_large.json, the aruco_dict_name is 6 but in plane_small.json is 5

I think the aruco_dict_name is both 5 as it is 5 x 5.

https://calib.io/pages/camera-calibration-pattern-generator In addition, is it possible to use this link to generate my own charuco in A3 size and use for calibration

dasparli commented 1 year ago

The value of aruco_dict_name is correct, the number 6 that is in the json is not referring to a 6x6 grid, but rather the index in the enum as defined here: OpenCV: opencv2/aruco/dictionary.hpp File Reference in the cv::aruco::PREDEFINED_DICTIONARY_NAME enum.

In this case index 6 is referring to cv::aruco::DICT_5X5_250 while index 5 in plane_small.json is referring to cv::aruco::DICT_5X5_100 , so both 5x5 grids as expected.

Yes it is possible to use your own charuco in A3 size for calibration.