arcor2-calibration 0.4.0

ARCOR2 Calibration

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

Changelog

The format is based on Keep a Changelog,

[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.