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add camera parameters for the tutorial #3120

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Nov 26, 2021
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add camera parameters for the tutorial #3120

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7 changes: 7 additions & 0 deletions modules/aruco/tutorials/aruco_detection/aruco_detection.markdown
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Expand Up @@ -267,6 +267,13 @@ The aruco module provides a function to estimate the poses of all the detected m

@code{.cpp}
cv::Mat cameraMatrix, distCoeffs;
// To work with examples from the tutorial, you can use these camera parameters:
// Size imgSize = inputImage.size();
// cameraMatrix = Mat::eye(3, 3, CV_64FC1);
// cameraMatrix.at<double>(0, 0) = cameraMatrix.at<double>(1, 1) = 650;
// cameraMatrix.at<double>(0, 2) = imgSize.width / 2;
// cameraMatrix.at<double>(1, 2) = imgSize.height / 2;
// distCoeffs = Mat(5, 1, CV_64FC1, Scalar::all(0));
...
std::vector<cv::Vec3d> rvecs, tvecs;
cv::aruco::estimatePoseSingleMarkers(markerCorners, 0.05, cameraMatrix, distCoeffs, rvecs, tvecs);
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