custom charuco board

asked 2018-01-28 00:44:18 -0500

Is it possible to generate a charuco board in python with custom aruco ids? After creating the board (call it board), I can access the ids using 'board.ids. These are not writable (or at least the error I get when I try to change one). If this is not possible in python, is it possible in c++?

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did you mean this ?

berak gravatar imageberak ( 2018-01-28 04:20:21 -0500 )edit

Sorry. I just realized my comment was entered into the PR comments you provided the link for.

I think this will do what I want. My goal is to take a single snapshot with a stereo pair of cameras using several unique boards scattered across the FOV. With this method, I can loop through stationary boards rather than images while moving the cameras on a gimble mount or something similar.

Using this pull request, I can create N custom dictionaries pulling from one common dictionary like 4x4_250 where the beginning of each new custom dictionary starts with the ending of the previous custom dictionary.

It would be convienent to be able to specify the starting marker ID in the board creation but I see that isn’t written that way in the c++ code either.

Fresnel gravatar imageFresnel ( 2018-01-28 16:30:45 -0500 )edit

@berak It would also be great if we could either have ad "id_offset" parameter to CharucoBoard_create to start a given charuco board at some id, or if CharucoBoard.ids could be writable (as with the C++ API). Currently, the only way to may a charuco board starting at - say - id 24 is to create a custom dict containing markers 24 and following from the original dict.

fdy gravatar imagefdy ( 2018-11-20 11:16:35 -0500 )edit