Fiducial 3D Mapper

Proof of concept software that extracts translation and rotation transformations from ArUco markers to render 3D objects on top of a video source and determine the distance betwen the center of the camera and the center of the marker.

Demo

Bunny

Bunny render with Pyrender

Cube

Cube render by transformation of points in 3D object space to image pixel space

Installation

MacOS

$ git clone https://github.com/mmatl/pyglet.git
$ cd pyglet
$ pip install .

Other Platforms

$ pip install pyrender

Calibration

• Camera callibration is required
• Callibration file must be a pickled tuple (with the pickle library) with contents (_ret, intrinsic_camera_matrix, distortion_coefficients, _translation_vectors, _rotational_vectors).
  • The contents of the tuple must be in this order
  • Variables with underscore prefix will not be used by the program

To run

$ python3 main.py

Keyboard Inputs at Render Window

q: quit
a: toggle draw axis
b: toggle draw box
b: toggle draw bunny

Sources

• Bunny OBJ: http://www.kunzhou.net/tex-models.htm