arucojson

Command-line Aruco Marker to JSON computation. This small package iuse

Tools

aruco2json

Requires a calibration file (YAML OpenCV), a marker size (m), input file and a flag to tell if the image is already undistorted. This will produce a json containing all the required information. It can also export or visualize the markers overlaid

• camera information
• per-marker data comprising the area of the marker visible in pixels, corners, OpenGL Modelview matrix

YAML output only for static images (or 1 frame videos)

Syntax:

aruco2json calibrationfile size videofile alreadyundist [-|outfilename]

Example:

./aruco2json k2.yml 0.05 /Volumes/BigData/PELARS/sessions/S1602/kinect.mp4 1

Example Output:

{
  "K": [
    [
      532.85,
      0,
      316.88
    ],
    [
      0,
      532.45,
      241.63
    ],
    [
      0,
      0,
      1
    ]
  ],
  "dist": [
    [
      0,
      0,
      0,
      0,
      0
    ]
  ],
  "glprojection": [
    1.6651561737061,
    -0,
    0,
    0,
    0,
    -2.6622500610352,
    0,
    0,
    0.0097499847412109,
    0.20815002441406,
    -1.002002002002,
    -1,
    0,
    -0,
    -0.2002002002002,
    0
  ],
  "imagesize": [
    640,
    400
  ],
  "markers": [
    {
      "Tvec": [
        0.012566397897899,
        0.033242721110582,
        0.48332592844963
      ],
      "areapx": 11068.0390625,
      "areau": 0.043234527111053,
      "center": [
        330.40185546875,
        280.71496582031
      ],
      "error": 1.7395777717263,
      "glmodelview": [
        -0.053420249372721,
        0.87593740224838,
        0.47945794463158,
        0,
        0.99592757225037,
        0.081656329333782,
        -0.038216348737478,
        0,
        0.072625905275345,
        -0.4754638671875,
        0.87673234939575,
        0,
        0.012566393241286,
        0.033242717385292,
        -0.48332592844963,
        1
      ],
      "id": 26,
      "points": [
        [
          281.42459106445,
          226.32289123535
        ],
        [
          383.91390991211,
          234.3843536377
        ],
        [
          386.38558959961,
          335.71697998047
        ],
        [
          269.88327026367,
          326.43569946289
        ],
        [
          330.40185546875,
          280.71496582031
        ]
      ],
      "pose": [
        [
          -0.053420305252075,
          0.99592757225037,
          0.072625935077667,
          0.012566397897899
        ],
        [
          0.87593746185303,
          0.081656388938427,
          -0.47546374797821,
          0.033242721110582
        ],
        [
          -0.47945785522461,
          0.038216356188059,
          -0.8767324090004,
          0.48332592844963
        ],
        [
          0,
          0,
          0,
          1
        ]
      ]
    }
  ],
  "markersize": 0.10000000149012,
  "yaxisup": false
}

undistort

Simple tool for undistorting an image: calibrationfile input output

overlay

Simple tool for overlaying generic marker information over image. Command contains YAML

Syntax:

overlay calibrationfile.yaml command.yaml imagefile dist [outfile|-]

Example:

%YAML:1.0
markerid1: 1
markerid2: 1
markerpose1: !!opencv-matrix
  cols: 4
  data: [-0.0534203052520752, 0.9959275722503662, 0.07262593507766724, 0.01256639789789915,
    0.8759374618530273, 0.08165638893842697, -0.4754637479782104, 0.03324272111058235,
    -0.4794578552246094, 0.03821635618805885, -0.8767324090003967, 0.4833259284496307,
    0.0, 0.0, 0.0, 1.0]
  dt: d
  rows: 4
markerpose2: !!opencv-matrix
  cols: 4
  data: [-0.0534203052520752, 0.9959275722503662, 0.07262593507766724, 0.03640603199193842,
    0.8759374618530273, 0.08165638893842697, -0.4754637479782104, -0.12026646523210135,
    -0.4794578552246094, 0.03821635618805885, -0.8767324090003967, 0.568550824938581,
    0.0, 0.0, 0.0, 1.0]
  dt: d
  rows: 4
markersize1: 0.1000000014901161
markersize2: 0.03
mode1: 3
mode2: 3

Building

Use cmakego for simple cmake dependencies specification (https://github.com/eruffaldi/cmakego)