robotic_sdk.aruco_tracking package

Submodules

robotic_sdk.aruco_tracking.aruco_dict module

Dictionary mapping ArUco marker types to their corresponding OpenCV dictionary identifiers.

Keys:

  • “4X4_50”: 4x4 grid with 50 markers

  • “4X4_100”: 4x4 grid with 100 markers

  • “4X4_250”: 4x4 grid with 250 markers

  • “4X4_1000”: 4x4 grid with 1000 markers

  • “5X5_50”: 5x5 grid with 50 markers

  • “5X5_100”: 5x5 grid with 100 markers

  • “5X5_250”: 5x5 grid with 250 markers

  • “5X5_1000”: 5x5 grid with 1000 markers

  • “6X6_50”: 6x6 grid with 50 markers

  • “6X6_100”: 6x6 grid with 100 markers

  • “6X6_250”: 6x6 grid with 250 markers

  • “6X6_1000”: 6x6 grid with 1000 markers

  • “7X7_50”: 7x7 grid with 50 markers

  • “7X7_100”: 7x7 grid with 100 markers

  • “7X7_250”: 7x7 grid with 250 markers

  • “7X7_1000”: 7x7 grid with 1000 markers

  • “ORIGINAL”: Original ArUco markers

  • “APRILTAG_16h5”: AprilTag 16h5 markers

  • “APRILTAG_25h9”: AprilTag 25h9 markers

  • “APRILTAG_36h10”: AprilTag 36h10 markers

  • “APRILTAG_36h11”: AprilTag 36h11 markers

robotic_sdk.aruco_tracking.aruco_marker module

class robotic_sdk.aruco_tracking.aruco_marker.ArucoMarker(marker_size: float = 9.0, aruco_type: str = '6X6_250', id: int = 12)

Bases: MarkerBase

Class for ArUco markers.

__init__(marker_size: float = 9.0, aruco_type: str = '6X6_250', id: int = 12)

Initializes the ArucoMarker class.

Parameters:

  • marker_size (float) – The size of the marker.

  • aruco_type (str) – The type of ArUco marker.

  • id (int) – The ID of the marker.

robotic_sdk.aruco_tracking.aruco_tracker module

class robotic_sdk.aruco_tracking.aruco_tracker.ArucoTracker(aruco_type: str, history_size=10, sigma_space=2.0, sigma_intensity=1.0)

Bases: TrackerBase

Class for tracking ArUco markers.

__init__(aruco_type: str, history_size=10, sigma_space=2.0, sigma_intensity=1.0)

Initializes the ArucoTracker class.

Parameters:

aruco_type (str) – The type of ArUco marker.

add_marker(aruco_marker: ArucoMarker)

Adds an ArUco marker to the tracker.

Parameters:

aruco_marker (ArucoMarker) – The ArUco marker to be added.

track(frame, draw=True)

Tracks ArUco markers in the given frame.

Parameters:

  • frame – The frame in which to track markers.

  • draw (bool) – Whether to draw the markers on the frame.

Returns:

The frame with markers drawn if draw is True.

robotic_sdk.aruco_tracking.camera_calibration module

robotic_sdk.aruco_tracking.camera_calibration.calibrate(frame_folder_name: str, calibration_file_name: str, square_size: float = 23.5) → None

Calibrates a camera using images of a chessboard pattern stored in a specified folder. Saves the calibration data (camera matrix, distortion coefficients, rotation, and translation vectors) to a specified file.

Parameters:

  • frame_folder_name (str) – Path to the folder containing chessboard images.

  • calibration_file_name (str) – Path and name of the file to save the calibration data.

  • square_size (float) – The size of the squares on the chessboard in millimeters. Default is 23.5 mm.

Returns:

None

robotic_sdk.aruco_tracking.marker_base module

class robotic_sdk.aruco_tracking.marker_base.MarkerBase(marker_size: float, id: int)

Bases: object

Abstract base class for handling markers.

__init__(marker_size: float, id: int)

Initializes the MarkerBase class.

Parameters:

  • marker_size (float) – The size of the marker.

  • id (int) – The ID of the marker.

get_marker_image(pixel_size: int, output_path: str) → bool

Generates and saves an image of the marker.

Parameters:

  • pixel_size (int) – The size of the marker in pixels.

  • output_path (str) – The path to save the marker image.

Returns:

True if the image was successfully saved.

Return type:

bool

set_offset(t_offset: ndarray, R_offset: ndarray)

Sets the translation and rotation offsets for the marker.

Parameters:

  • t_offset (np.ndarray) – The translation offset.

  • R_offset (np.ndarray) – The rotation offset.

robotic_sdk.aruco_tracking.tracker_base module

class robotic_sdk.aruco_tracking.tracker_base.TrackerBase

Bases: ABC

Abstract base class for handling trackers.

__init__()

Initializes the TrackerBase class.

abstract add_marker(marker)

Adds a marker to the tracker.

Parameters:

marker – The marker to be added.

set_calibration_data(calib_data_path: str)

Sets the calibration data for the tracker.

Parameters:

calib_data_path (str) – The path to the calibration data file (YAML).

abstract track(frame, draw: bool)

Tracks markers in the given frame.

Parameters:

  • frame – The frame in which to track markers.

  • draw (bool) – Whether to draw the markers on the frame.

Returns:

The frame with markers drawn if draw is True.

Module contents