From 8a68dae3e4e890a536d66783e26ae08b47375605 Mon Sep 17 00:00:00 2001 From: Gary Bradski Date: Sat, 26 Mar 2016 01:51:37 -0700 Subject: [PATCH 1/2] Filled out README.md file for ArUco and ChArUco and diamond markers --- modules/aruco/README.md | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/modules/aruco/README.md b/modules/aruco/README.md index 48eec1493..1a7b40a7e 100644 --- a/modules/aruco/README.md +++ b/modules/aruco/README.md @@ -1,2 +1,12 @@ ArUco Marker Detection ====================== + +**ArUco** + +ArUco markers are easy to detect pattern grids that yield up to 1024 different patterns. They were built for augmented reality and later used for camera caibration. Since the grid uniquely orients the square, the detection algorithm can determing the pose of the grid. + +**ChArUco** + +ArUco markers were improved by interspersing them inside a checkerboard called ChArUco. Checkerboard corner intersectionsa provide more stable corners because the edge location bias on one square is countered by the opposite edge orientation in the connecting square. By interspersing ArUco markers inside the checkerboard, each checkerboard corner gets a label which enables it to be used in complex calibration or pose scenarios where you cannot see all the corners of the checkerboard. + +The smallest ChArUco board is 5 checkers and 4 markers called a "Diamond Marker". From ad33b046a0054b0552bd795c41012e9fd480cb6f Mon Sep 17 00:00:00 2001 From: Gary Bradski Date: Sun, 27 Mar 2016 02:05:49 -0700 Subject: [PATCH 2/2] Fixed calibration typo and removed white space --- modules/aruco/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/modules/aruco/README.md b/modules/aruco/README.md index 1a7b40a7e..d40ae78f2 100644 --- a/modules/aruco/README.md +++ b/modules/aruco/README.md @@ -3,10 +3,10 @@ ArUco Marker Detection **ArUco** -ArUco markers are easy to detect pattern grids that yield up to 1024 different patterns. They were built for augmented reality and later used for camera caibration. Since the grid uniquely orients the square, the detection algorithm can determing the pose of the grid. +ArUco markers are easy to detect pattern grids that yield up to 1024 different patterns. They were built for augmented reality and later used for camera calibration. Since the grid uniquely orients the square, the detection algorithm can determing the pose of the grid. **ChArUco** ArUco markers were improved by interspersing them inside a checkerboard called ChArUco. Checkerboard corner intersectionsa provide more stable corners because the edge location bias on one square is countered by the opposite edge orientation in the connecting square. By interspersing ArUco markers inside the checkerboard, each checkerboard corner gets a label which enables it to be used in complex calibration or pose scenarios where you cannot see all the corners of the checkerboard. -The smallest ChArUco board is 5 checkers and 4 markers called a "Diamond Marker". +The smallest ChArUco board is 5 checkers and 4 markers called a "Diamond Marker".