Add AprilTag calibration, assets, and tracking demo

2026-06-27 08:50:25 +02:00
commit eee1893b9d
100 changed files with 3640 additions and 0 deletions
--- a/calibration_output/calibration_report.json
+++ b/calibration_output/calibration_report.json
@@ -0,0 +1,43 @@
+{
+  "assets_dir": "C:\\devel\\slam_demo\\assets",
+  "dictionary": "DICT_4X4_50",
+  "squares_x": 7,
+  "squares_y": 5,
+  "square_length_mm": 25.0,
+  "marker_length_mm": 18.75,
+  "min_markers": 8,
+  "min_charuco_corners": 12,
+  "total_images": 43,
+  "accepted_images": 27,
+  "rejected_images": 16,
+  "status": "ok",
+  "image_width": 3000,
+  "image_height": 4000,
+  "rms_reprojection_error": 0.4331525306786906,
+  "camera_matrix": [
+    [
+      2922.5451296678484,
+      0.0,
+      1513.228003099643
+    ],
+    [
+      0.0,
+      2929.578022490368,
+      1987.1398774988904
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "dist_coeffs": [
+    [
+      0.06569042692273651,
+      -0.12285829543468728,
+      -0.0017248793581868354,
+      -0.00019726508785207679,
+      0.07981683482477274
+    ]
+  ]
+}