CameraToWorkspace Class Reference

Class for aruco calibration and point transformations from workspace to camera. More...

Public Member Functions
def	__init__ (self, float markerLength, Base cam=None, cameraMatrix=None, distortionCoeffs=None, int calibrationLoops=1000, arucoDict=cv2.aruco.DICT_6X6_100)
def	calibrate (self)
	Calculate and return the transformation gCW. More...
def	getCameraMatrix (self)
	gets the intrinsic camera matrix More...
def	getDistoritionCoeffs (self)
	gets the camera distortion coefficients More...
def	getgCW (self, bwImg)
	gets the transformation from workspace to camera More...
def	process (self, np.ndarray img, np.ndarray depth=None)
	Process function to calibrate extrinsic matrix from rgb and depth frame. More...

Public Attributes
	arucoDict
	the dictionary the aruco tag belongs to More...
	calibrationLoops
	the number of frames to get before calibrating More...
	cam
	the camera to be used for calibration More...
	cameraMatrix
	the intrinsic camera matrix More...
	distortionCoeffs
	the camera distortion coefficients More...
	gCW
	the camera to world transformation matrix More...
	markerLength
	the length of the aruco marker in meters More...
	numberOfLoops
	the number of loops currently run More...
	objPoints
	the coordinates of the middle of the marker More...

Detailed Description

Class for aruco calibration and point transformations from workspace to camera.

Parameters

[in]	markerLength	length of the aruco marker in meters
[in]	cam	camera used to gather frames
[in]	cameraMatrix	the intrinsic camera matrix
[in]	distortionCoeffs	the distortion coefficients of the camera
[in]	calibrationLoops	the number of times a frame needs to be read from the camera before the image is stable
[in]	arucoDict	the predefined aruco dictionary that the marker belongs to

Constructor & Destructor Documentation

__init__()

def __init__	(		self,
		float	markerLength,
		Base	cam = None,
			cameraMatrix = None,
			distortionCoeffs = None,
		int	calibrationLoops = 1000,
			arucoDict = cv2.aruco.DICT_6X6_100
	)

Args:
    markerLenght (any): length of the aruco marker in meters
    cam (optional): camera used to gather frames
        - if not provided, OAK-D SR camera from camera.OAK class will be used
    cameraMatrix (optional): the intrinsic camera matrix
        - if not provided, matrix will be from yaml file for OAK-D SR camera
    distortionCoeffs (optional): the distortion coefficients of the camera
        - if not provided, coefficients will be from yaml file for OAK-D SR camera
    calibrationLoops (optional): the number of times a frame needs to be read from the camera before the image is stable
    arucoDict (optional): the predefined aruco dictionary that the marker belongs to

Member Function Documentation

calibrate()

def calibrate

(

self

)

Calculate and return the transformation gCW.

Returns

gCW

Calculate and return the transformation gCW
Returns:
    gCW: transformation in homogeneous coordinates

getCameraMatrix()

def getCameraMatrix

(

self

)

gets the intrinsic camera matrix

Returns

cameraMatrix

Gets the intrinsic camera matrix
Returns:
    cameraMatrix: the intrinsic camera matrix

getDistoritionCoeffs()

def getDistoritionCoeffs

(

self

)

gets the camera distortion coefficients

Returns

distCoeffs

Gets the camera distortion coefficients
Returns:
    distCoeffs: the camera distortion coefficients

getgCW()

def getgCW	(		self,
			bwImg
	)

gets the transformation from workspace to camera

Parameters

[in]

bwImg

black and white image containing an aruco tag

Returns

gCW

gets the transformation from workspace to camera
Args:
    bwImg (np.array (H, W)): black and white image containing an aruco tag

process()

def process	(		self,
		np.ndarray	img,
		np.ndarray	depth = None
	)

Process function to calibrate extrinsic matrix from rgb and depth frame.

Parameters

[in]	img	rgb image
[in]	depth	depth map

Returns

gCW

Process function to calibrate extrinsic matrix from rgb and depth frame

Args:
    img (np.ndarray (H, W, 3)): rgb image
    depth (np.ndarray (H, W), optional): Depth map. Not used
Returns:
    gCW (np.ndarray (4,4)): Extrinsic aruco-to-camera transformation matrix

Member Data Documentation

arucoDict

arucoDict

the dictionary the aruco tag belongs to

calibrationLoops

calibrationLoops

the number of frames to get before calibrating

cam

cam

the camera to be used for calibration

cameraMatrix

cameraMatrix

the intrinsic camera matrix

distortionCoeffs

distortionCoeffs

the camera distortion coefficients

gCW

gCW

the camera to world transformation matrix

markerLength

markerLength

the length of the aruco marker in meters

numberOfLoops

numberOfLoops

the number of loops currently run

objPoints

objPoints

the coordinates of the middle of the marker

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The documentation for this class was generated from the following file:

• /home/mary/python/camera/camera/utils/arucoCalibration.py