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CalibrationAndAugmentedReality

Description

The goal of the project is to create a program that can detect a target and place virtual objects in the scene relative to the target, accounting for camera and target movement. The process involves calibrating the camera using a chessboard image to determine distance and then generating virtual objects on the chessboard. The virtual objects, including pyramids and a torus (donut), are projected onto the image plane in real time based on the movement of the camera or target. In addition to the chessboard, I have also used ArUco markers and overlayed images/videos on top of it.

Demo

Projecting a Virtual Object onto the scene

I created three slanted pyramids with the top connected with a green-colored roof.

Projecting a Torus (Donut) onto the scene

Overlaying Images on ArUco marks

I overlaid images onto those ArUco marks:

I can even rotate the ArUco marks; the images will be rotated accordingly!

Overlaying Videos on ArUco marks

Please find a screen recording here: https://drive.google.com/file/d/1ZGoQKcxPYRRTgvMnKS7Re-LlHhK_q9xV/view?usp=drive_link

Instructions

Run augmentedReality.cpp
You should start by calibrating your camera with a chessboard. This can be done by pressing "d", and then "s" at least 5 times (each from diff angle of the chessboard).

Some useful hotkeys:

  • n = Do nothing/ reset the camera frames
  • s = Save the current frame for camera calibration. Need to press 'd' before pressing 's'. Need to save at least 5 images, and then calibration will happen by itself.
  • q = Quit program
  • d = Detect chessboard corners and display it
  • p = Calculate the Camera's current position and print out the rotation and translation vectors.
  • a = Overlay images onto ArUco markers found. Do nothing if no markers are found.
  • v = Overlay videos onto ArUco markers found. Do nothing if no markers are found.
  • o = Draw virtual objects (Three pyramids with the top connected with a "roof") onto the chessboard
  • f = Find and display FAST features onto the frame
  • h = Find and display Harris corners features onto the frame
  • x = Display the 3D axes on the chessboard attached to the origin
  • t = Draw a Torus, aka donut, onto the chessboard.

OS and IDE

OS: MacOS Ventura 13.0.1 (22A400)

IDE: XCode

Acknowledgements