Creating charuco print

In this page we will learn how to prepare an image in tiff format that should be ready for printing. Alongside the image we will generate a text file that will hold board dimensions for further reference if needed.

We will further dive into how to choose optimal print size for your setup and provide some recommendations.

If your goal is to calibrate a multi-device scene, please read[ Multi-device recording ] before generating and printing an image!

Begin by navigating into Recording Taband enable either Live Intrinsic or Live Extrinsic mode, either one will work.

[[ zdjecie z excalidraw ]]

Locate Generate image / Choose presets button that should be on the left side of the window, below board settings.

A new window will appear that allows us to select a preset, choose a paper format that you're targeting.

Each preset by default contains optimal sizes with default pattern size ( Squares and markers on the X axis and on the Y axis )

If you plan to calibrate a multi-device setup that is wide apart (distances between devices), you need to choose a bigger paper format ( like mentioned in Multi-device recording page ), during extrinsic recording you will need to rotate the board so camera pairs can see it at different angles simultaneously while seeing at least 70% of the board. You might get better results or have easier time calibrating with wider pattern ( more squares on the X and Y axis ).

When changing the pattern size to a bigger one, we need to tweak the square and marker sizes as well, each paper format has a known size [ Paper sizes in centimeters ] and the num markers x square size on axis must be within bounds of the paper, if not, the image will not generate and report an error to check logs

When calculating your custom square/marker sizes make sure you leave some white space around the board, look at how we generate default image from a preset and notice that there is a white space around the edges

Print DPI

Dots per inch, controls quality of the print, higher DPI equals better quality of the image, around 150 for this type of image is good enough

When printing the image, do not set any scaling as the generated image is already the size of paper format in selected DPI.

Do not perform any rasterization on the image if your printer allows that

Like mentioned above, use original scaling, the image is already scaled

When you are happy with the board, press save .tiff image and choose where to save the generated image.

Alongside the image we will generate a text file containing board data.