Adding dimension information to aruco camera calibration data.

3 files changed, 17 insertions, 12 deletions

diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py
index 3871d77..6aa602c 100644
--- a/src/argaze/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py
@@ -12,9 +12,12 @@ class ArUcoCamera():
     def __init__(self):
         """Define optical parameters."""
 
-        self.__rms = 0          # root mean square error
-        self.__K = []           # camera matrix (focal lengths and principal point)
-        self.__D = []           # distortion coefficients
+        self.__rms = 0              # root mean square error
+
+        self.__dimensions = [0, 0]  # dimensions of frame where to apply optical parameters (in pixel)
+
+        self.__K = []               # camera matrix (focal lengths and principal point)
+        self.__D = []               # distortion coefficients
 
         # define calibration data
         self.__corners_set_number = 0
@@ -32,13 +35,14 @@ class ArUcoCamera():
             calibration_data = json.load(calibration_file)
 
             self.__rms = calibration_data['rms']
+            self.__dimensions = calibration_data['dimensions']
             self.__K = numpy.asarray(calibration_data['camera matrix'])
             self.__D = numpy.asarray(calibration_data['distortion coefficients'])
 
     def save_calibration_file(self, camera_calibration_filepath):
         """Save optical parameters into .json file."""
 
-        calibration_data = {'rms': self.__rms, 'camera matrix': self.__K.tolist(), 'distortion coefficients': self.__D.tolist()}
+        calibration_data = {'rms': self.__rms, 'dimensions': self.__dimensions, 'camera matrix': self.__K.tolist(), 'distortion coefficients': self.__D.tolist()}
 
         with open(camera_calibration_filepath, 'w', encoding='utf-8') as calibration_file:
 
@@ -61,7 +65,8 @@ class ArUcoCamera():
 
         if self.__corners_set_number > 0:
 
-            self.__rms, self.__K, self.__D, r, t = aruco.calibrateCameraCharuco(self.__corners_set, self.__corners_set_ids, board.get_model(), [frame_width, frame_height], None, None)
+            self.__dimensions = [frame_width, frame_height]
+            self.__rms, self.__K, self.__D, r, t = aruco.calibrateCameraCharuco(self.__corners_set, self.__corners_set_ids, board.get_model(), self.__dimensions, None, None)
 
     def reset_calibration_data(self):
         """Clear all calibration data."""
diff --git a/src/argaze/utils/calibrate_tobii_camera.py b/src/argaze/utils/calibrate_tobii_camera.py
index cb4c792..61fc56c 100644
--- a/src/argaze/utils/calibrate_tobii_camera.py
+++ b/src/argaze/utils/calibrate_tobii_camera.py
@@ -29,13 +29,15 @@ def main():
     parser.add_argument('square_size', metavar='SQUARE_SIZE', type=float, default=5, help='square size (cm)')
     parser.add_argument('marker_size', metavar='MARKER_SIZE', type=float, default=3, help='marker size (cm)')
     parser.add_argument('-t', '--tobii_ip', metavar='TOBII_IP', type=str, default='192.168.1.10', help='tobii glasses ip')
-    parser.add_argument('-o', '--output', metavar='OUT', type=str, default='.', help='destination filepath')
-    parser.add_argument('-d', '--dictionary', metavar='DICT', type=str, default='DICT_4X4_50', help='aruco marker dictionnary')
+    parser.add_argument('-o', '--output', metavar='OUT', type=str, default='camera.json', help='destination filepath')
+    parser.add_argument('-d', '--dictionary', metavar='DICT', type=str, default='DICT_ARUCO_ORIGINAL', help='aruco marker dictionnary (DICT_4X4_50, DICT_4X4_100, DICT_4X4_250, DICT_4X4_1000, DICT_5X5_50, DICT_5X5_100, DICT_5X5_250, DICT_5X5_1000, DICT_6X6_50, DICT_6X6_100, DICT_6X6_250, DICT_6X6_1000, DICT_7X7_50, DICT_7X7_100, DICT_7X7_250, DICT_7X7_1000, DICT_ARUCO_ORIGINAL,DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10, DICT_APRILTAG_36h11)')
     args = parser.parse_args()
 
     # Create tobii controller
     tobii_controller = TobiiController.TobiiController(args.tobii_ip, 'myProject', 'mySelf')
 
+    tobii_controller.set_video_freq_25()
+
     # Enable tobii video stream
     tobii_video_stream = tobii_controller.enable_video_stream()
 
@@ -54,9 +56,6 @@ def main():
     print("Camera calibration starts")
     print("Waiting for calibration board...")
 
-    frame_width = 0
-    frame_height = 0
-
     expected_markers_number = aruco_board.get_markers_number()
     expected_corners_number = aruco_board.get_corners_number()
 
@@ -108,6 +107,7 @@ def main():
 
     print('\nCalibration succeeded!')
     print(f'\nRMS:\n{aruco_camera.get_rms()}')
+    print(f'\nDimensions:\n{video_frame.width}x{video_frame.height}')
     print(f'\nCamera matrix:\n{aruco_camera.get_K()}')
     print(f'\nDistortion coefficients:\n{aruco_camera.get_D()}')
 
diff --git a/src/argaze/utils/export_calibration_board.py b/src/argaze/utils/export_calibration_board.py
index 2bcdef2..6d925bd 100644
--- a/src/argaze/utils/export_calibration_board.py
+++ b/src/argaze/utils/export_calibration_board.py
@@ -13,9 +13,9 @@ def main():
     parser.add_argument('columns', metavar='COLS_NUMBER', type=int, default=7, help='number of columns')
     parser.add_argument('rows', metavar='ROWS_NUMBER', type=int, default=5, help='number of rows')
     parser.add_argument('square_size', metavar='SQUARE_SIZE', type=int, default=5, help='square size (cm)')
-    parser.add_argument('marker_size', metavar='MARKER_SIZE', type=int, default=5, help='marker size (cm)')
+    parser.add_argument('marker_size', metavar='MARKER_SIZE', type=int, default=3, help='marker size (cm)')
     parser.add_argument('-o', '--output', metavar='OUT', type=str, default='.', help='destination path')
-    parser.add_argument('-d', '--dictionary', metavar='DICT', type=str, default='DICT_4X4_50', help='aruco marker dictionnary')
+    parser.add_argument('-d', '--dictionary', metavar='DICT', type=str, default='DICT_ARUCO_ORIGINAL', help='aruco marker dictionnary (DICT_4X4_50, DICT_4X4_100, DICT_4X4_250, DICT_4X4_1000, DICT_5X5_50, DICT_5X5_100, DICT_5X5_250, DICT_5X5_1000, DICT_6X6_50, DICT_6X6_100, DICT_6X6_250, DICT_6X6_1000, DICT_7X7_50, DICT_7X7_100, DICT_7X7_250, DICT_7X7_1000, DICT_ARUCO_ORIGINAL,DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10, DICT_APRILTAG_36h11)')
     parser.add_argument('-r', '--resolution', metavar='RES', type=int, default=50, help='picture resolution in dpi')
     args = parser.parse_args()