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Diffstat (limited to 'docs/user_guide/aruco_markers/camera_calibration.md')
| -rw-r--r-- | docs/user_guide/aruco_markers/camera_calibration.md | 42 |
1 files changed, 25 insertions, 17 deletions
diff --git a/docs/user_guide/aruco_markers/camera_calibration.md b/docs/user_guide/aruco_markers/camera_calibration.md index c8a0be9..ea2c51a 100644 --- a/docs/user_guide/aruco_markers/camera_calibration.md +++ b/docs/user_guide/aruco_markers/camera_calibration.md @@ -5,7 +5,7 @@ Any camera device have to be calibrated to compensate its optical distorsion.  -The first step to calibrate a [ArUcoCamera](/argaze/#argaze.ArUcoMarkers.ArUcoCamera) is to create an [ArUcoBoard](/argaze/#argaze.ArUcoMarkers.ArUcoBoard) like in the code below: +The first step to calibrate a camera is to create an [ArUcoBoard](/argaze/#argaze.ArUcoMarkers.ArUcoBoard) like in the code below: ``` python from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoBoard @@ -20,20 +20,20 @@ aruco_board = ArUcoBoard.ArUcoBoard(7, 5, 5, 3, aruco_dictionary) aruco_board.save('./calibration_board.png', 300) ``` -Then, the calibration process needs to make many different captures of an [ArUcoBoard](/argaze/#argaze.ArUcoMarkers.ArUcoBoard) through the camera and then, pass them to an [ArUcoDetector](/argaze/#argaze.ArUcoMarkers.ArUcoDetector.ArUcoDetector) instance. +Then, the calibration process needs to make many different captures of an [ArUcoBoard](/argaze/#argaze.ArUcoMarkers.ArUcoBoard) through the camera and then, pass them to an [ArUcoDetector](/argaze/#argaze.ArUcoMarkers.ArUcoDetector.ArUcoDetector) instance to detect board corners and store them as calibration data to an [ArUcoOpticCalibrator](/argaze/#argaze.ArUcoMarkers.ArUcoOpticCalibrator) for final calibration process.  The sample of code below shows how to detect board corners into camera frames, store detected corners then process them to build calibration data and, finally, save it into a JSON file: ``` python -from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera, ArUcoBoard, ArUcoDetector +from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoOpticCalibrator, ArUcoBoard, ArUcoDetector # Create ArUco dictionary aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_APRILTAG_16h5') -# Create ArUco camera -aruco_camera = ArUcoCamera.ArUcoCamera(dimensions=(1920, 1080)) +# Create ArUco optic calibrator +aruco_optic_calibrator = ArUcoOpticCalibrator.ArUcoOpticCalibrator() # Create ArUco board of 7 columns and 5 rows with 5 cm squares with 3cm aruco markers inside # Note: This board is the one expected during further board tracking @@ -57,27 +57,35 @@ while video_stream.is_alive(): aruco_detector.draw_board(frame) # Append tracked board data for further calibration processing - aruco_camera.store_calibration_data(aruco_detector.board_corners, aruco_detector.board_corners_identifier) + aruco_optic_calibrator.store_calibration_data(aruco_detector.board_corners, aruco_detector.board_corners_identifier) # Start camera calibration processing for Full HD image resolution print('Calibrating camera...') -aruco_camera.calibrate(expected_aruco_board) +optic_parameters = aruco_optic_calibrator.calibrate(aruco_board, dimensions=(1920, 1080)) -# Print camera calibration data -print('Calibration succeeded!') -print(f'RMS:{aruco_camera.rms}') -print(f'Camera matrix:{aruco_camera.K}') -print(f'Distortion coefficients:{aruco_camera.D}') +if optic_parameters: -# Save camera calibration data -aruco_camera.to_json('calibration.json') + print('\nCalibration succeeded!') + + print(f'\nRMS:\n{optic_parameters.rms}') + print(f'\nDimensions:\n{optic_parameters.dimensions[0]}x{optic_parameters.dimensions[1]}') + print(f'\nCamera matrix:\n{optic_parameters.K}') + print(f'\nDistortion coefficients:\n{optic_parameters.D}') + + optic_parameters.to_json(f'{args.output}/calibration.json') + + print(f'\ncalibration.json file exported into {args.output} folder') + +else: + + print('\nCalibration error.') ``` Then, the camera calibration data are loaded to compensate optical distorsion during [ArUcoMarkers](/argaze/#argaze.ArUcoMarkers.ArUcoMarker) detection: ``` python -from argaze.ArUcoMarkers import ArUcoCamera +from argaze.ArUcoMarkers import ArUcoOpticCalibrator -# Load camera calibration data -aruco_camera = ArUcoCamera.ArUcoCamera.from_json('./calibration.json') +# Load camera optic parameters +optic_parameters = ArUcoOpticCalibrator.OpticParameters.from_json('./calibration.json') ``` |