ATLASCAR2 Sensors Calibration by Global Optimization

Contains the code of the for the Laboratory of Automation and Robotics, Department of Mechanical Engineering, University of Aveiro (LARDEMUA).

Check the github page github.com/lardemua or the lars.mec.ua.pt.

Table of Contents

• ATLASCAR2 Sensors Calibration by Global Optimization
• Table of Contents
• Installation
• Usage
  • Lemonbot datasets
  • OpenConstructor datasets
• Credits
• License

Table of contents generated with markdown-toc

Installation

If this is a python standalone project, so just use the pip install and the requirements.txt file mechanism:

sudo pip install -r requirements.txt

Usage

To run an optimization, go to the OpenConstructorOptimization folder

cd OpenConstructorOptimization

and run

./Optimization.py ../CameraImages/DataSet1 center all fromaruco -do -ms 0.082 -f png

All the arguments are:

usage: Optimization.py [-h] [-d] [-no] [-do] [-saveResults] [-processDataset]
                       [-ms marksize] -f imageFormat
                       Directory {center,corners} {all,translation}
                       {fromaruco,fromfile}

positional arguments:
  Directory             Directory of the dataset to optimize
  {center,corners}      Chose if is the centers or the corners of Arucos to do
                        the otimization.
  {all,translation}     Chose if use translation and rotation or only the
                        translations in the vector x to otimize.
  {fromaruco,fromfile}  Get initial estimation from the markers detection or
                        from a file.

optional arguments:
  -h, --help            show this help message and exit
  -d                    draw initial estimation
  -no                   do not optimize
  -do                   to draw during optimization
  -saveResults          Save results of the optimization
  -processDataset       Process the point clouds with the results obtained
                        from the optimization process
  -ms marksize          size of the aruco markers (m)
  -f imageFormat        image format

Lemonbot datasets

Lemonbot datasets were taken with a point grey camera. Images are in jpg format and the marker size is 0.082. So, you must run for example like this:

./Optimization.py ../CameraImages/DataSet1 center all fromaruco -do -ms 0.082 -f png

OpenConstructor datasets

...

./Optimization.py ../CameraImages/Aruco_Board_1/dataset/ center all fromaruco -do -ms 0.1 -f jpg

Credits

List the authors, current develpers, inspiring projects, etc.

Here goes an example of a table with the authors:

License

GNU GP3. See LICENSE for full details.