ARCOR2 Calibration
Project description
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,
[0.5.0] - 2021-05-21
Changed
PUT /calibrate/camera
now returnsEstimatedPose
(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).
- It is mandatory to provide
[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 hasinverse
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.
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