camera.extrinsic.arucoExtrinsic Namespace Reference

Functions
def	calibrate (outFileDir, yamlFilePath="", cam=None, cameraMatrix=None, distortionCoefficients=None)
	Perform calibration of the camera to world frame. More...
def	getExtrinsics (filePath)
	Get the pre-calibrated gCW, gWC, camMTX, distortionCoeffs. More...

Detailed Description

@brief: Generate yaml file with transformation gCW

@author: Kyle de Nobel

@note: Comments above file are for Doxygen support and are the same as the docstrings.

Function Documentation

calibrate()

def camera.extrinsic.arucoExtrinsic.calibrate	(		outFileDir,
			yamlFilePath = "",
			cam = None,
			cameraMatrix = None,
			distortionCoefficients = None
	)

Perform calibration of the camera to world frame.

Parameters

[in]	outFileDir	directory to write the output yaml file containing extrinsic transformations to
[in]	yamlFilePath	file path of yaml containing aruco information
[in]	cam	any camera child class of camera.base
[in]	cameraMatrix	camera intrinsic matrix
[in]	distortionCoefficients	camera distortion coefficients

Perform calibration of the camera to world frame

Args:
    outFilePath (string): directory to write the output yaml file containing extrinsic transformations to
    yamlFilePath (string): file path of yaml containing aruco information
    cam (optional): any camera child class of camera.base
    cameraMatrix (optional): camera intrinsic matrix
    distortionCoefficients (optional): camera distortion coefficients

Example:
    aruco yaml structure:
        * arucoTagSize:
        * - 0.07
        * arucoDictionary:
        * - 9
        * - Note -> cv2.aruco.DICT_6X6_100 = 9. You must convert the dict enum to an integer before storing here
        * arucoID:
        * - 20

getExtrinsics()

def camera.extrinsic.arucoExtrinsic.getExtrinsics

(

filePath

)

Get the pre-calibrated gCW, gWC, camMTX, distortionCoeffs.

Parameters

[in]

filePath

file path of yaml file contianing extrinsic transformations

Returns

gCW, gWC, camMTX, distortionCoeffs

Get the pre-calibrated 
                gCW = world to camera transformation, 
                gWC = camera to world transformation,
                camMTX = camera intrinsic matrix, 
                distortionCoeffs = camera distortion coefficients
Args:
    filePath (string) : file path of yaml file contianing extrinsic transformations

Returns:
    gCW, gWC, camMTX, distortionCoeffs