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## Requirements for LPRF
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* Python 2.7
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* pyhton YAML
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* OpenCV3 compiled with GUI and ChAruCo optional packages (ROS version can be used)
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* PylonForPython --> https://gitlab.ciirc.cvut.cz/cmirajak/PylonForPython
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### PylonForPython
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Copy GitHub link to CameraManager and follow the project the README to install the package.
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Copy GitHub link to CameraManager and follow the project the README to install the package. You must be logged in in order to clone package.
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```
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git clone git@gitlab.ciirc.cvut.cz:cmirajak/PylonForPython.git
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```
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## Choosing the calibration pattern
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Two calibration pattern are available, the chessboard and ChAruCo (chessboard with position tags), both of which can be combined to calibrate the whole system. We will use the ChAruCo board for camera calibration and chessboard for laser position calibration.
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## Generating ChAruCo board
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**GenerateBoardCharuco.py** generates the ChAruCo board and saves it as .png file. You can configure the board generation by setting the number of columns, rows, size of the squares, size of the markers and specify the dictionary of markers. The generated picture of the board is printed in 1:1 ratio and glued to a flat surface.
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The setting is later used in the other files. The setting of these files must be changed accordingly to this setting.
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**GenerateBoardCharuco.py** generates the ChAruCo board and saves it as .png file. You can configure the board generation by setting the number of columns, rows, size of the squares, size of the markers and specify the dictionary of markers. Setup example:
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```python
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dictionary = aruco.DICT_4X4_1000
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rows = 7
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columns = 8
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square_length = 0.020 # metres
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marker_length = 0.012 # metres
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```
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The generated picture of the board is printed in 1:1 ratio and glued to a flat surface. The setting is later used in the other files. The setting of these files must be changed accordingly to this setting.
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## Camera calibration
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**CameraCalibrationLiveCharuco.py** is a python script for file camera calibration using the ChAruCo calibration pattern. The script must be set up accordingly for the board generated above. The output file path is specified as a variable **path_out=''**. The configuration file name is params_internal.yaml.
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