ARCOR2 Calibration service

Example configuration

id: Arbitrary text
marker_size: 0.1
markers:
  10:
    pose:
      position:
        x: 0
        y: 0
        z: 0
      orientation:
        x: 0
        y: 0
        z: 0
        w: 1

Environment variables

• ARCOR2_CALIBRATION_URL=http://0.0.0.0:5014 - by default, the service listens on port 5014.
• ARCOR2_CALIBRATION_DEBUG=1 - switches logger to the DEBUG level.
• ARCOR2_CALIBRATION_MOCK=1 - the service will start in a mock (simulator) mode.
• ARCOR2_REST_API_DEBUG=1 - turns on Flask debugging (logs each endpoint call).

Changelog

The format is based on Keep a Changelog,

[1.2.0] - 2024-04-11

Changed

• Updated dependencies, switched to Python 3.11.

[1.1.0] - 2024-02-07

Changed

• Markers used to be from 7x7 dictionary, which is unnecessarily large, now a 4x4 dictionary of size 50 is used (use marker IDs 0..49).

[1.0.0] - 2023-02-14

Changed

• Marked as a stable version.
• Health check end-point changed to /healthz/ready.

[0.9.0] - 2022-10-28

Changed

• Switched to Python 3.10, updated dependencies.

[0.8.0] - 2022-09-15

Changed

• BREAKING: Implement new error handling flow. Error codes of every endpoint were replaced with error types as described in swagger documentation.
• Updated to reflect changes in cv2.aruco.

[0.7.0] - 2021-10-25

Changed

• New environment variables:
  • ARCOR2_CALIBRATION_DEBUG to turn on debugging.
  • ARCOR2_CALIBRATION_MOCK to start in mock mode.

[0.6.1] - 2021-07-29

Fixed

• Handle invalid input parameters (camera matrix).
• Scale down images to a common resolution before computing blur score.

[0.6.0] - 2021-06-11

Changed

• Improved quality estimation (take orientation into account).
• Reject blurry images.

[0.5.0] - 2021-05-21

Changed

• PUT /calibrate/camera now returns EstimatedPose (pose + quality).

Fixed

• Command line arguments fixed.
  • It is mandatory to provide -c (path to a configuration file) or one of -s (prints OpenAPI) or -m (start as mock).

[0.4.0] - 2021-04-26

Changed

• The service now requires YAML configuration file where placement of markers is specified.
• There might be 1-n markers in an arbitrary pose.
• At least one of the configured markers should be visible.
• Un-configured markers are ignored.
• Estimated poses of the camera from multiple detected markers are so far simply averaged.
• The average is weighted according to the camera-marker distance.

[0.3.0] - 2021-03-30

Changed

• PUT /calibrate/camera now has inverse parameter.

[0.2.0] - 2021-02-08

Changed

• Part of the code refactored into arcor2/flask.py.
• API for getting pixel coordinates of markers corners.
  • Approx. three times faster than camera calibration.

[0.1.1] - 2020-12-14

Changed

• Bump version to allow reupload to pypi

[0.1.0] - 2020-12-14

Changed

• Initial release of the package.
• Support for camera calibration.
• Support for robot calibration.
  • URDF model of the robot needed.
  • Requires depth camera (e.g. Kinect).
• --mock argument to start the service in a simulation mode.