arucoHandling.py

import cv2 as cv

def generate_aruco_images(aruco_mark_dict):
    marker_image = cv.aruco.generateImageMarker(aruco_mark_dict, 23, 200, 1)
    cv.imwrite("marker23.png", marker_image)


# From the tutorial on this website https://mecaruco2.readthedocs.io/en/latest/notebooks_rst/Aruco/Projet+calibration-Paul.html
# This step is required in order to use distance detection
def calibrate_camera(allCorners,allIds,imsize):
    """
    Calibrates the camera using the dected corners.
    """
    print("CAMERA CALIBRATION")

    cameraMatrixInit = np.array([[ 2000.,    0., imsize[0]/2.],
                                 [    0., 2000., imsize[1]/2.],
                                 [    0.,    0.,           1.]])

    distCoeffsInit = np.zeros((5,1))
    flags = (cv2.CALIB_USE_INTRINSIC_GUESS + cv2.CALIB_RATIONAL_MODEL)
    (ret, camera_matrix, distortion_coefficients0,
     rotation_vectors, translation_vectors,
     stdDeviationsIntrinsics, stdDeviationsExtrinsics,
     perViewErrors) = cv2.aruco.calibrateCameraCharucoExtended(
                      charucoCorners=allCorners,
                      charucoIds=allIds,
                      board=board,
                      imageSize=imsize,
                      cameraMatrix=cameraMatrixInit,
                      distCoeffs=distCoeffsInit,
                      flags=flags,
                      criteria=(cv2.TERM_CRITERIA_EPS & cv2.TERM_CRITERIA_COUNT, 10000, 1e-9))

    return ret, camera_matrix, distortion_coefficients0, rotation_vectors, translation_vectors
    print("finished")