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-Camera calibration
-==================
-
-Any camera device have to be calibrated to compensate its optical distorsion.
-
-![Camera calibration](../../img/camera_calibration.png)
-
-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.
-
-![Calibration step](../../img/camera_calibration_step.png)
-
-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')
-```