diff options
Diffstat (limited to 'docs')
7 files changed, 33 insertions, 25 deletions
diff --git a/docs/user_guide/ar_environment/environment_setup.md b/docs/user_guide/ar_environment/environment_setup.md index 367030c..bbfdbd6 100644 --- a/docs/user_guide/ar_environment/environment_setup.md +++ b/docs/user_guide/ar_environment/environment_setup.md @@ -15,7 +15,7 @@ Here is JSON environment file example where it is assumed that mentioned .obj fi "name": "DICT_APRILTAG_16h5" } "marker_size": 5, - "camera": { + "optic_parameters": { "rms": 0.6, "dimensions": [ 1920, diff --git a/docs/user_guide/areas_of_interest/aoi_scene_projection.md b/docs/user_guide/areas_of_interest/aoi_scene_projection.md index a23d069..4d06e87 100644 --- a/docs/user_guide/areas_of_interest/aoi_scene_projection.md +++ b/docs/user_guide/areas_of_interest/aoi_scene_projection.md @@ -14,8 +14,8 @@ An [AOI3DScene](/argaze/#argaze.AreaOfInterest.AOI3DScene) can be rotated and tr # Assuming pose estimation is done (tvec and rmat) -# Project AOI 3D scene according pose estimation and camera intrinsic parameters -aoi2D_scene = aoi3D_scene.project(tvec, rmat, aruco_camera.K) +# Project AOI 3D scene according pose estimation and optic parameters +aoi2D_scene = aoi3D_scene.project(tvec, rmat, optic_parameters.K) # Draw AOI 2D scene aoi2D_scene.draw(frame) 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') ``` diff --git a/docs/user_guide/aruco_markers/introduction.md b/docs/user_guide/aruco_markers/introduction.md index fbf01cf..7da045c 100644 --- a/docs/user_guide/aruco_markers/introduction.md +++ b/docs/user_guide/aruco_markers/introduction.md @@ -10,6 +10,6 @@ The ArGaze [ArUcoMarkers submodule](/argaze/#argaze.ArUcoMarkers) eases markers * [ArUcoMarkersDictionary](/argaze/#argaze.ArUcoMarkers.ArUcoMarkersDictionary) * [ArUcoMarkers](/argaze/#argaze.ArUcoMarkers.ArUcoMarker) * [ArUcoBoard](/argaze/#argaze.ArUcoMarkers.ArUcoBoard) -* [ArUcoCamera](/argaze/#argaze.ArUcoMarkers.ArUcoCamera) +* [ArUcoOpticCalibrator](/argaze/#argaze.ArUcoMarkers.ArUcoOpticCalibrator) * [ArUcoDetector](/argaze/#argaze.ArUcoMarkers.ArUcoDetector) * [ArUcoScene](/argaze/#argaze.ArUcoMarkers.ArUcoScene)
\ No newline at end of file diff --git a/docs/user_guide/aruco_markers/markers_detection.md b/docs/user_guide/aruco_markers/markers_detection.md index d962b7b..f8a23f9 100644 --- a/docs/user_guide/aruco_markers/markers_detection.md +++ b/docs/user_guide/aruco_markers/markers_detection.md @@ -8,7 +8,7 @@ Firstly, the [ArUcoDetector](/argaze/#argaze.ArUcoMarkers.ArUcoDetector.ArUcoDet Notice that extra parameters are passed to detector: see [OpenCV ArUco markers detection parameters documentation](https://docs.opencv.org/4.x/d1/dcd/structcv_1_1aruco_1_1DetectorParameters.html) to know more. ``` python -from argaze.ArUcoMarkers import ArUcoDetector, ArUcoCamera +from argaze.ArUcoMarkers import ArUcoDetector, ArUcoOpticCalibrator # Assuming camera calibration data are loaded @@ -16,7 +16,7 @@ from argaze.ArUcoMarkers import ArUcoDetector, ArUcoCamera extra_parameters = ArUcoDetector.DetectorParameters.from_json('./detector_parameters.json') # Create ArUco detector to track DICT_APRILTAG_16h5 5cm length markers -aruco_detector = ArUcoDetector.ArUcoDetector(camera=aruco_camera, dictionary='DICT_APRILTAG_16h5', marker_size=5, parameters=extra_parameters) +aruco_detector = ArUcoDetector.ArUcoDetector(optic_parameters=optic_parameters, dictionary='DICT_APRILTAG_16h5', marker_size=5, parameters=extra_parameters) ``` Here is [DetectorParameters](/argaze/#argaze.ArUcoMarkers.ArUcoDetector.DetectorParameters) JSON file example: diff --git a/docs/user_guide/utils/demonstrations_scripts.md b/docs/user_guide/utils/demonstrations_scripts.md index 5c4ef2b..adcc8b3 100644 --- a/docs/user_guide/utils/demonstrations_scripts.md +++ b/docs/user_guide/utils/demonstrations_scripts.md @@ -18,7 +18,7 @@ python ./src/argaze/utils/demo_ar_features_run.py -d DEVICE ``` !!! warning - This demonstration assumes that camera calibration step is done and a **calibration.json** has been exported into *./src/argaze/utils/demo_environment/* folder. + This demonstration assumes that camera calibration step is done and a **optic_parameters.json** has been exported into *./src/argaze/utils/demo_environment/* folder. !!! note Use **A3_demo.pdf** file located in *./src/argaze/utils/demo_environment/* folder ready to be printed on A3 paper sheet. diff --git a/docs/user_guide/utils/ready-made_scripts.md b/docs/user_guide/utils/ready-made_scripts.md index 82039c5..4ab8b52 100644 --- a/docs/user_guide/utils/ready-made_scripts.md +++ b/docs/user_guide/utils/ready-made_scripts.md @@ -25,7 +25,7 @@ python ./src/argaze/utils/aruco_calibration_board_export.py 7 5 5 3 DICT_APRILTA ## Camera calibration -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 *calibration.json* file into *./src/argaze/utils/demo_environment/* folder: +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 *optic_parameters.json* file into *./src/argaze/utils/demo_environment/* folder: ```shell python ./src/argaze/utils/camera_calibrate.py 7 5 5 3 DICT_APRILTAG_16h5 -d DEVICE -o ./src/argaze/utils/demo_environment |