Camera#
The Camera tool provides different commands to get information about cameras,
calibrate them and detect Aruco tags.
Use --help argument to show available commands:
$ cogip-camera --help
Usage: cogip-camera [OPTIONS] COMMAND [ARGS]...
Options:
-d, --debug Turn on debug messages
env var: COGIP_DEBUG, CAMERA_DEBUG
--help Show this message and exit.
Commands:
calibrate Calibrate camera using images captured by the 'capture' command
capture Capture images to be used by the 'calibrate' command
info Get properties of connected cameras
Info Command#
Display properties of connected cameras.
If a camera name is provided, only display properties of this camera and preview its video stream. Codec, width and height arguments apply only in this context.
$ cogip-camera info --help
Usage: cogip-camera info [OPTIONS]
Get properties of connected cameras
Options:
--camera-name [hbv|sonix] Name of the camera (all if not specified)
env var: CAMERA_NAME
--camera-codec [mjpg|yuyv] Camera video codec
env var: CAMERA_CODEC
default: yuyv
--camera-width INTEGER Camera frame width
env var: CAMERA_WIDTH
default: 640
--camera-height INTEGER Camera frame height
env var: CAMERA_HEIGHT
default: 480
--help Show this message and exit.
Capture Command#
Capture images to be used by the calibrate command.
Use --max-frames and --capture-interval options to customize
the number of images to capture and the frequency of capture.
To be valid for calibration, the images must contained a charuco board
with different orientations on each image. Use --charuco-* options to configure
the Charuco board used for calibration.
The captured images will be displayed after charuco board detection.
The Charuco board generated for detection is also displayed for comparison with the board on images.
Images are stored in cameras/<robot_id>/<camera_name>_<camera_codec>_<camera_width>x<camera_height>/images.
$ cogip-camera capture --help
Usage: cogip-camera capture [OPTIONS]
Capture images to be used by the 'calibrate' command
Options:
-i, --id INTEGER RANGE Robot ID.
env var: ROBOT_ID, CAMERA_ID
default: 1, x>=0
--camera-name [hbv|sonix] Name of the camera
env var: CAMERA_NAME
default: hbv
--camera-codec [mjpg|yuyv] Camera video codec
env var: CAMERA_CODEC
default: yuyv
--camera-width INTEGER Camera frame width
env var: CAMERA_WIDTH
default: 640
--camera-height INTEGER Camera frame height
env var: CAMERA_HEIGHT
default: 480
--max-frames INTEGER Maximum number of frames to read before exiting
env var: CAMERA_MAX_FRAMES
default: 120
--capture-interval INTEGER Capture an image every 'capture_interval' frames
env var: CAMERA_CAPTURE_INTERVAL
default: 10
--charuco-rows INTEGER Number of rows on the Charuco board
env var: CAMERA_CHARUCO_ROWS
default: 8
--charuco-cols INTEGER Number of columns on the Charuco board
env var: CAMERA_CHARUCO_COLS
default: 13
--charuco-marker-length INTEGER
Length of an Aruco marker on the Charuco board (in mm)
env var: CAMERA_CHARUCO_MARKER_LENGTH
default: 23
--charuco-square-length INTEGER
Length of a square in the Charuco board (in mm)
env var: CAMERA_CHARUCO_SQUARE_LENGTH
default: 30
--charuco-legacy / --no-charuco-legacy
Use Charuco boards compatible with OpenCV < 4.6
env var: CAMERA_CHARUCO_LEGACY
default: no-charuco-legacy
--help Show this message and exit.
Calibrate Command#
Generate intrinsic calibration parameters using images recorded by the capture command.
The parameter file is written in cameras/<robot_id>/<camera_name>_<camera_codec>_<camera_width>x<camera_height>/params.yaml.
$ cogip-camera calibrate --help
Usage: cogip-camera calibrate [OPTIONS]
Calibrate camera using images captured by the 'capture' command
Options:
-i, --id INTEGER RANGE Robot ID.
env var: ROBOT_ID, CAMERA_ID
default: 1, x>=0
--camera-name [hbv|sonix] Name of the camera
env var: CAMERA_NAME
default: hbv
--camera-codec [mjpg|yuyv] Camera video codec
env var: CAMERA_CODEC
default: yuyv
--camera-width INTEGER Camera frame width
env var: CAMERA_WIDTH
default: 640
--camera-height INTEGER Camera frame height
env var: CAMERA_HEIGHT
default: 480
--charuco-rows INTEGER Number of rows on the Charuco board
env var: CAMERA_CHARUCO_ROWS
default: 8
--charuco-cols INTEGER Number of columns on the Charuco board
env var: CAMERA_CHARUCO_COLS
default: 13
--charuco-marker-length INTEGER
Length of an Aruco marker on the Charuco board (in mm)
env var: CAMERA_CHARUCO_MARKER_LENGTH
default: 23
--charuco-square-length INTEGER
Length of a square in the Charuco board (in mm)
env var: CAMERA_CHARUCO_SQUARE_LENGTH
default: 30
--charuco-legacy / --no-charuco-legacy
Use Charuco boards compatible with OpenCV < 4.6
env var: CAMERA_CHARUCO_LEGACY
default: no-charuco-legacy
--help Show this message and exit.