From 913b72b3176dfd4a613f9fb9de1c985fb13b8ad8 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 19 Sep 2023 13:49:02 +0200
Subject: Working on aruco markers pipeline.

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 .../optic_parameters_calibration.md                | 133 ---------------------
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-Calibrate optic parameters
-==========================
-
-A camera device have to be calibrated to compensate its optical distorsion.
-
-![Optic parameters calibration](../../img/optic_calibration.png)
-
-## Print calibration board
-
-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)
-```
-
-!!! note
-      There is **A3_DICT_APRILTAG_16h5_3cm_35cmx25cm.pdf** file located in *./src/argaze/ArUcoMarkers/utils/* folder ready to be printed on A3 paper sheet.
-
-Let's print the calibration board before to go further.
-
-## Capture board pictures 
-
-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 into an [ArUcoOpticCalibrator](../../argaze.md/#argaze.ArUcoMarkers.ArUcoOpticCalibrator) for final calibration process.
-
-![Calibration step](../../img/optic_calibration_step.png)
-
-The sample of code below illustrates how to:
-
-* load all required ArGaze objects,
-* detect board corners into a Full HD camera video stream, 
-* store detected corners as calibration data then, 
-* once enough captures are made, process them to find optic parameters and, 
-* finally, save optic parameters 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)
-
-# Assuming that live Full HD (1920x1080) video stream is enabled
-...
-
-# Assuming there is a way to escape the while loop
-...
-
-    while video_stream.is_alive():
-
-        # Capture image from video stream
-        image = video_stream.read()
-
-        # Detect all board corners in image
-        aruco_detector.detect_board(image, expected_aruco_board, expected_aruco_board.markers_number)
-
-        # If all board corners are detected
-        if aruco_detector.board_corners_number == expected_aruco_board.corners_number:
-
-            # 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 optic calibration processing for Full HD image resolution
-print('Calibrating optic...')
-optic_parameters = aruco_optic_calibrator.calibrate(aruco_board, dimensions=(1920, 1080))
-
-if optic_parameters:
-
-    # Export optic parameters
-    optic_parameters.to_json('./optic_parameters.json')
-
-    print('Calibration succeeded: optic_parameters.json file exported.')
-
-else:
-
-    print('Calibration failed.')
-```
-
-Below, an optic_parameters JSON file example:
-
-```json
-{
-    "rms": 0.6688921504088245,
-    "dimensions": [
-        1920,
-        1080
-    ],
-    "K": [
-        [
-            1135.6524381415752,
-            0.0,
-            956.0685325355497
-        ],
-        [
-            0.0,
-            1135.9272506869524,
-            560.059099810324
-        ],
-        [
-            0.0,
-            0.0,
-            1.0
-        ]
-    ],
-    "D": [
-        0.01655492265003404,
-        0.1985524264972037,
-        0.002129965902489484,
-        -0.0019528582922179365,
-        -0.5792910353639452
-    ]
-}
-```
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