Metadata-Version: 2.1
Name: arcor2-calibration
Version: 0.6.0
Summary: ARCOR2 Calibration
Home-page: UNKNOWN
Author: Robo@FIT
Author-email: imaterna@fit.vut.cz
License: LGPL
Platform: UNKNOWN
Classifier: Development Status :: 3 - Alpha
Classifier: Intended Audience :: Developers
Classifier: Topic :: Software Development :: Build Tools
Classifier: License :: OSI Approved :: GNU Lesser General Public License v3 (LGPLv3)
Classifier: Programming Language :: Python :: 3.8
Classifier: Natural Language :: English
Classifier: Topic :: Scientific/Engineering
Requires-Python: ==3.8.*
Description-Content-Type: text/markdown
Requires-Dist: Flask (==2.0.1)
Requires-Dist: Pillow (==8.2.0)
Requires-Dist: PyYAML (==5.4.1)
Requires-Dist: arcor2-calibration-data (~=0.4.0)
Requires-Dist: arcor2 (~=0.17.0)
Requires-Dist: dataclasses-jsonschema[apispec,fast-validation] (==2.14.1)
Requires-Dist: numpy-quaternion[numba,scipy] (==2021.6.9.13.34.11)
Requires-Dist: numpy (==1.20.3)
Requires-Dist: open3d (==0.13.0)
Requires-Dist: opencv-contrib-python (==4.5.2.54)
Requires-Dist: urdfpy (==0.0.22)

# ARCOR2 Calibration service

### Example configuration

```yaml
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](https://keepachangelog.com/en/1.0.0/),

## [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.

