Detect the chessboard

ChArco

python3 apps/calibration/detect_charuco.py ${root}/ba --mode sparse --squareLength 0.1 --aruco_len 0.0714
python3 apps/annotation/annot_calib.py ${root}/ba --annot chessboard --mode chessboard --pattern 5,3

–mode
–squareLength	the length of the square (unit meter)

Mannual

python3 apps/calibration/create_marker.py ${root}/background1f --N 4 --N_group 4
python3 apps/annotation/annot_mv_points.py ${root}/background1f

Example

1. Basketball Court

Download the Web Annotation Tool.

git clone https://github.com/chingswy/EasyAnnot.git

Start the server, open the server in the browser: http://0.0.0.0:2345/match_points

python3 app.py --root ${data}/ground1f --port 2345

Annotate the points and export.

You should measure the length of (0, 1) and (0, 3). It’s 5.8meter and 4.9meter ideally.

Format

Image 000000.jpg has its annotation file 0000000.json:

{
    'keypoints3d': [[x0, y0, z0], [x1, y1, z1], ..., ],
    'keypoints2d': [[u0, v0, c0], [u1, v1, c1], ..., ].
}