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Description:

arcor2calibration 1.2.0

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.