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Table of Contents

tools

Camera Calibration Program

This example helps you to calibrate your camera and it provides a camera calibration parameters set. These parameters stored in a file can be taken as input by any program to set the intrinsic parameters of your camera. Right now, we do not offer a solution for non-calibrated pose pipeline. Natural Marker and Fiducial Marker program samples assume you will provide the camera calibration parameters at runtime.

In general, this tool is useful for any program you will create by yourself using SolAR.

The calibration process is based on state of the art method and uses a chessboard.

You can have one while printing the "chessboard.png" in this project.

The input file used for this calibration program gives information about how to setup your chessboard: measure the squares on your chessboard sheet, aspect ratio and square size.

To get more details, please read the readme.adoc file that you can find in the camera calibration folder.

link:http://forge.b-com.com/git/argo/SolAR/SolARContainerOpenCV.git

camera calibration

If you use QT creator, open the .pro file and configure your project as usual (see "getting started").

Have a look at the ".cpp" file, which is clearly commented and explained step by step.

2 files are used :

  • calibration_config.yml, which is an input file

  • camera_calibration.yml, which is an output file (but can be used as input file for other programs)

=== Fiducial Marker samples

Here is an example of Fiducial Image Marker based on SolAR.

For the three versions of it, you can see a visual feedback of natural marker estimation. As for Natural Image, you can choose simple, static or dynamic mode (the differences are the same as for natural markers).