Initial commit

Author: tony2guo

Diff for: LICENSE

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+MIT License
+
+Copyright (c) 2021 Shih-Wei Guo
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

Diff for: README.md

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+# charuco-pose-estimation
+ChArUco pose estimation using OpenCV
+
+1. [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/tony2guo/charuco-pose-estimation/blob/master/charuco-pose-estimation.ipynb)
+1. Print out [charuco_board.png](charuco_board.png) and take a picture of it, name the picture [image.png](image.png)
+1. Measure the actual square length and marker length of the printout, and change it in the code respectively
+1. Create [intrinsic.txt](intrinsic.txt) with camera intrinsic matrix
+1. Upload [image.png](image.png) and [intrinsic.txt](intrinsic.txt) to the current directory at the "Files" bar on the left
+1. Click "Runtime" and "Run all" and see the output file [charuco_tf.txt](charuco_tf.txt) and [camera_tf.txt](camera_tf.txt) in the current directory
+
+
+Create ChArUco
+![charuco_board](charuco_board.png)
+
+Detect markers
+![markers](markers.png)
+
+Detect ChArUco
+![charuco](charuco.png)

Diff for: camera_tf.txt

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+9.548303226711444269e-01 -7.304111379096009382e-02 -2.880348079727425570e-01 3.200425958557832073e-01
+-4.228740456786817675e-02 -9.928541636642976842e-01 1.115902554409721192e-01 3.878645380298661322e-02
+-2.941272349216102477e-01 -9.436951515528724244e-02 -9.510959805859364735e-01 4.542719319467897754e-01
+0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 1.000000000000000000e+00

Diff for: charuco-pose-estimation.ipynb

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+9.548303226711444269e-01 -4.228740456786817675e-02 -2.941272349216102477e-01 -1.703324493597610512e-01
+-7.304111379096009382e-02 -9.928541636642976842e-01 -9.436951515528724244e-02 1.047549817803988814e-01
+-2.880348079727425570e-01 1.115902554409721192e-01 -9.510959805859364735e-01 5.199114259204935529e-01
+0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 1.000000000000000000e+00

Diff for: charuco.png

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+1.363386230468750000e+03 0.000000000000000000e+00 9.487056884765625000e+02
+0.000000000000000000e+00 1.361707641601562500e+03 5.192871704101562500e+02
+0.000000000000000000e+00 0.000000000000000000e+00 1.000000000000000000e+00