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diff --git a/docs/user_guide/aruco_markers/camera_calibration.md b/docs/user_guide/aruco_markers/camera_calibration.md deleted file mode 100644 index ad28200..0000000 --- a/docs/user_guide/aruco_markers/camera_calibration.md +++ /dev/null @@ -1,91 +0,0 @@ -Camera calibration -================== - -Any camera device have to be calibrated to compensate its optical distorsion. - - - -The first step to calibrate a camera is to create an [ArUcoBoard](../../argaze.md/#argaze.ArUcoMarkers.ArUcoBoard) like in the code below: - -``` python -from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoBoard - -# Create ArUco dictionary -aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_APRILTAG_16h5') - -# Create an ArUco board of 7 columns and 5 rows with 5 cm squares with 3cm ArUco markers inside -aruco_board = ArUcoBoard.ArUcoBoard(7, 5, 5, 3, aruco_dictionary) - -# Export ArUco board with 300 dpi resolution -aruco_board.save('./calibration_board.png', 300) -``` - -Then, the calibration process needs to make many different captures of an [ArUcoBoard](../../argaze.md/#argaze.ArUcoMarkers.ArUcoBoard) through the camera and then, pass them to an [ArUcoDetector](../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector.ArUcoDetector) instance to detect board corners and store them as calibration data to an [ArUcoOpticCalibrator](../../argaze.md/#argaze.ArUcoMarkers.ArUcoOpticCalibrator) for final calibration process. - - - -The sample of code below shows how to detect board corners into camera images, store detected corners then process them to build calibration data and, finally, save it into a JSON file: - -``` python -from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoOpticCalibrator, ArUcoBoard, ArUcoDetector - -# Create ArUco dictionary -aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_APRILTAG_16h5') - -# 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 -expected_aruco_board = ArUcoBoard.ArUcoBoard(7, 5, 5, 3, aruco_dictionary) - -# Create ArUco detector -aruco_detector = ArUcoDetector.ArUcoDetector(dictionary=aruco_dictionary, marker_size=3) - -# Capture images from a live Full HD video stream (1920x1080) -while video_stream.is_alive(): - - image = video_stream.read() - - # Detect all board corners in image - aruco_detector.detect_board(image, expected_aruco_board, expected_aruco_board.markers_number) - - # If board corners are detected - if aruco_detector.board_corners_number > 0: - - # Draw board corners to show that board tracking succeeded - aruco_detector.draw_board(image) - - # Append tracked board data for further calibration processing - 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...') -optic_parameters = aruco_optic_calibrator.calibrate(aruco_board, dimensions=(1920, 1080)) - -if optic_parameters: - - 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.md/#argaze.ArUcoMarkers.ArUcoMarker) detection: - -``` python -from argaze.ArUcoMarkers import ArUcoOpticCalibrator - -# Load camera optic parameters -optic_parameters = ArUcoOpticCalibrator.OpticParameters.from_json('./calibration.json') -``` |