6 files changed, 125 insertions, 6 deletions

diff --git a/src/argaze/ArUcoMarkers/utils/A3_DICT_APRILTAG_16h5_3cm_35cmx25cm.pdf b/src/argaze/ArUcoMarkers/utils/A3_DICT_APRILTAG_16h5_3cm_35cmx25cm.pdf
new file mode 100644
index 0000000..2adcee1
--- /dev/null
+++ b/src/argaze/ArUcoMarkers/utils/A3_DICT_APRILTAG_16h5_3cm_35cmx25cm.pdf
diff --git a/src/argaze/ArUcoMarkers/utils/A3_DICT_ARUCO_ORIGINAL_3cm_35cmx25cm.pdf b/src/argaze/ArUcoMarkers/utils/A3_DICT_ARUCO_ORIGINAL_3cm_35cmx25cm.pdf
deleted file mode 100644
index 455fd4f..0000000
--- a/src/argaze/ArUcoMarkers/utils/A3_DICT_ARUCO_ORIGINAL_3cm_35cmx25cm.pdf
+++ /dev/null
diff --git a/src/argaze/ArUcoMarkers/utils/A4_DICT_APRILTAG_16h5_5cm_0-7.pdf b/src/argaze/ArUcoMarkers/utils/A4_DICT_APRILTAG_16h5_5cm_0-7.pdf
new file mode 100644
index 0000000..fcf850d
--- /dev/null
+++ b/src/argaze/ArUcoMarkers/utils/A4_DICT_APRILTAG_16h5_5cm_0-7.pdf
diff --git a/src/argaze/ArUcoMarkers/utils/A4_DICT_ARUCO_ORIGINAL_3cm_0-9.pdf b/src/argaze/ArUcoMarkers/utils/A4_DICT_ARUCO_ORIGINAL_3cm_0-9.pdf
deleted file mode 100644
index 03085f2..0000000
--- a/src/argaze/ArUcoMarkers/utils/A4_DICT_ARUCO_ORIGINAL_3cm_0-9.pdf
+++ /dev/null
diff --git a/src/argaze/utils/README.md b/src/argaze/utils/README.md
index f91438f..719218d 100644
--- a/src/argaze/utils/README.md
+++ b/src/argaze/utils/README.md
@@ -8,22 +8,25 @@ Collection of ready-to-use commands based on ArGaze toolkit.
 
 # ArUco Markers factory
 
-Export all markers from DICT_APRILTAG_16h5 dictionary as 5 cm pictures with 300 dpi resolution into an \_export/markers folder:
+Export all markers from *DICT_APRILTAG_16h5* dictionary as 5 cm pictures with 300 dpi resolution into an *\_export/markers* folder:
 
 ```
 python ./src/argaze/utils/aruco_markers_dictionary_export.py DICT_APRILTAG_16h5 -s 5 -r 300 -o _export/markers
 ```
 
-Export a 7 columns and 5 rows calibration board made of 5cm squares with 3cm markers from DICT_APRILTAG_16h5 dictionary at 300 dpi into an \_export folder:
+Export a 7 columns and 5 rows calibration board made of 5cm squares with 3cm markers from *DICT_APRILTAG_16h5* dictionary at 300 dpi into an *\_export* folder:
 
 ```
 python ./src/argaze/utils/aruco_calibration_board_export.py 7 5 5 3 DICT_APRILTAG_16h5 -r 300 -o _export
 ```
 
-# TODO: Camera calibration
+# Camera calibration
 
-Calibrate a network camera (-t IP_ADDRESS) using a 7 columns and 5 rows calibration board made of 5cm squares with 3cm markers from DICT_APRILTAG_16h5 dictionary. Then, export its optical parameters into an camera.json file:
+Calibrate a camera device (-d DEVICE) using a 7 columns and 5 rows calibration board made of 5cm squares with 3cm markers from *DICT_APRILTAG_16h5* dictionary. Then, export its optical parameters into an *camera.json* file:
 
 ```
-python ./src/argaze/utils/camera_calibrate.py 7 5 5 3 -t IP_ADDRESS -d DICT_APRILTAG_16h5 -o _export/camera.json
-```
\ No newline at end of file
+python ./src/argaze/utils/camera_calibrate.py 7 5 5 3 DICT_APRILTAG_16h5 -d DEVICE -o _export
+```
+
+.. note::
+   Use **A3_DICT_APRILTAG_16h5_3cm_35cmx25cm.pdf** file located in ./src/argaze/ArUcoMarkers/utils/ folder ready to be printed on A3 paper sheet.
\ No newline at end of file
diff --git a/src/argaze/utils/camera_calibrate.py b/src/argaze/utils/camera_calibrate.py
new file mode 100644
index 0000000..f55f0ce
--- /dev/null
+++ b/src/argaze/utils/camera_calibrate.py
@@ -0,0 +1,116 @@
+#!/usr/bin/env python
+
+import argparse
+import os
+import time
+
+from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoBoard, ArUcoDetector, ArUcoCamera
+
+import cv2
+
+def main():
+    """
+    Captures board pictures and finally outputs camera calibration data into a calibration.json file.
+
+    - Export and print a calibration board using aruco_calibration_board_export.py script.
+    - Place the calibration board face to the camera.
+    - Move the calibration board in a manner to view it entirely on screen in various configurations (orientation and distance):  
+    The script will automatically take pictures. Do this step with a good lighting and a clear background.
+    - Once enough pictures have been captured (~20), press Esc key then, wait for the camera calibration processing.
+    - Finally, check rms parameter: it should be between 0. and 1. if the calibration succeeded (lower is better).
+
+    ### Reference:
+    - [Camera calibration using ArUco marker tutorial](https://automaticaddison.com/how-to-perform-camera-calibration-using-opencv/)
+    """
+
+    # Manage arguments
+    parser = argparse.ArgumentParser(description=main.__doc__.split('-')[0])
+    parser.add_argument('columns', metavar='COLS_NUMBER', type=int, default=7, help='expected board columns number')
+    parser.add_argument('rows', metavar='ROWS_NUMBER', type=int, default=5, help='expected board rows number')
+    parser.add_argument('square_size', metavar='SQUARE_SIZE', type=float, default=5, help='expected square size in cm')
+    parser.add_argument('marker_size', metavar='MARKER_SIZE', type=float, default=3, help='expected marker size in cm')
+    parser.add_argument('dictionary', metavar='DICTIONARY', type=ArUcoMarkersDictionary.ArUcoMarkersDictionary, default='DICT_ARUCO_ORIGINAL', help='expected dictionary name: 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('-d', '--device', metavar='DEVICE', type=int, default=0, help='video capture device id')
+    parser.add_argument('-o', '--output', metavar='OUT', type=str, default='.', help='destination folder filepath')
+    args = parser.parse_args()
+
+    # Enable camera video capture
+    video_capture = cv2.VideoCapture(args.device)
+
+    frame_width = int(video_capture.get(cv2.CAP_PROP_FRAME_WIDTH))
+    frame_height = int(video_capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
+
+    # Create aruco camera
+    aruco_camera = ArUcoCamera.ArUcoCamera(dimensions=(frame_width, frame_height))
+
+    # Create aruco board
+    aruco_board = ArUcoBoard.ArUcoBoard(args.columns, args.rows, args.square_size, args.marker_size, args.dictionary)
+
+    # Create aruco detector
+    aruco_detector = ArUcoDetector.ArUcoDetector(dictionary=args.dictionary, marker_size=args.marker_size)
+
+    print(f'{aruco_camera.dimensions[0]}x{aruco_camera.dimensions[1]} pixels camera calibration starts')
+    print("Waiting for calibration board...")
+
+    expected_markers_number = aruco_board.markers_number
+    expected_corners_number = aruco_board.corners_number
+
+    # Capture loop
+    try:
+
+        # Capture frames with a full displayed board inside
+        while video_capture.isOpened():
+
+            success, video_frame = video_capture.read()
+
+            if success:
+
+                # Detect calibration board
+                aruco_detector.detect_board(video_frame, aruco_board, expected_markers_number)
+
+                # Draw detected markers
+                aruco_detector.draw_detected_markers(video_frame)
+
+                # Draw current calibration data count
+                cv2.putText(video_frame, f'Capture: {aruco_camera.calibration_data_count}', (50, 50), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2, cv2.LINE_AA)
+                cv2.imshow('Camera Calibration', video_frame)
+
+                # If all board corners are detected
+                if aruco_detector.board_corners_number == expected_corners_number:
+
+                    # Draw board corners to notify a capture is done
+                    aruco_detector.draw_board(video_frame)
+
+                    # Append calibration data
+                    aruco_camera.store_calibration_data(aruco_detector.board_corners, aruco_detector.board_corners_identifier)
+
+                    cv2.imshow('Camera Calibration', video_frame)
+
+            # Stop calibration by pressing 'Esc' key
+            if cv2.waitKey(1) == 27:
+                break
+
+    # Stop calibration on 'ctrl+C' interruption
+    except KeyboardInterrupt:
+        pass
+
+    # Stop frame display
+    cv2.destroyAllWindows()
+
+    print('\nCalibrating camera...')
+    aruco_camera.calibrate(aruco_board)
+
+    print('\nCalibration succeeded!')
+    print(f'\nRMS:\n{aruco_camera.rms}')
+    print(f'\nDimensions:\n{frame_width}x{frame_height}')
+    print(f'\nCamera matrix:\n{aruco_camera.K}')
+    print(f'\nDistortion coefficients:\n{aruco_camera.D}')
+
+    aruco_camera.to_json(f'{args.output}/calibration.json')
+
+    print(f'\ncalibration.json file exported into {args.output} folder')
+
+if __name__ == '__main__':
+
+    main()