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Center of Charuco Board

asked 2017-11-26 17:04:30 -0600

supra1 gravatar image

My end goal is to perspective transform a Charuco board and track a relatively small object that moves on the board which will cover at most 2 markers (on a size 5 by 5 square board). I would like to calculate the position of that object relative to the center of the board.

When using the Charuco board pose estimation sample from the aruco library, I notice the aruco::drawAxis() function only draws the axis at a corner of the board. My question is how would I get the 2d coordinates of the center of the board (for example, pose for an Aruco board:

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Hi, this is a bit random but does tvec return the center of the charuco board or the corners in which the axis is drawn on charuco board?

hihihowru gravatar imagehihihowru ( 2019-10-29 02:44:43 -0600 )edit

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answered 2017-11-26 21:57:34 -0600

Tetragramm gravatar image

You want to use the projectPoints function. You know the size of the squares of the board. So project the point (x,y,0) where x and y are the number of squares to the center * the size of the squares.

That gives you the point in the image that is the center of the board, or any point on the board if you want.

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Asked: 2017-11-26 17:03:31 -0600

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Last updated: Nov 26 '17