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aruCo module, world space coordinates?

asked 2017-02-12 13:29:56 -0600

stillNovice
80 ●1 ●3 ●14

Hi, I need to move a camera, and know exactly how far it has traveled. I need to do this with a mono camera, or it would be simple, using stereo odometry.

I am looking into the aRuCo module in openCv, which returns the camera pose.

My question is:

Since the size of the board / marker is known, is the camera translation returned in accurate world-space coordinates, or not?

eg, if I move a meter, will the tvec value reflect that in a repeatable way?

Thanks!

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answered 2017-02-12 16:29:25 -0600

Tetragramm

7376 ●13 ●37

If the aruco board is stationary, and the createBoard function has the correct sizes passed in, then yes.

For example, using a Charuco board, the create function asks for square length and marker length in the units you want to measure in. This must be the same as you have printed the marker. So if your board has squares 5cm across, you would put in 0.05 as the square length.