feat(arcor2_calibration): smaller aruco dictionary

.github/workflows/pants.yaml

@@ -28,7 +28,7 @@ jobs:
     - name: Maximize build space
       uses: easimon/maximize-build-space@v10
       with:
-        root-reserve-mb: 35000
+        root-reserve-mb: 30000
         swap-size-mb: 1024
         remove-dotnet: 'true'
         remove-android: 'true'

README.md

@@ -66,7 +66,7 @@ The following video by [Kinali](https://www.kinali.cz/en/) shows the use case (o
 
 [README](src/python/arcor2_calibration/README.md) | [CHANGELOG](src/python/arcor2_calibration/CHANGELOG.md)
 
- - 2023-02-14: [1.0.0](https://github.com/robofit/arcor2/releases/tag/arcor2_calibration%2F1.0.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_calibration/tags?page=1&ordering=last_updated&name=1.0.0), [pypi](https://pypi.org/project/arcor2-calibration/1.0.0/)).
+ - 2024-02-07: [1.1.0](https://github.com/robofit/arcor2/releases/tag/arcor2_calibration%2F1.1.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_calibration/tags?page=1&ordering=last_updated&name=1.1.0), [pypi](https://pypi.org/project/arcor2-calibration/1.1.0/)).
 
 ### arcor2_calibration_data
 

compose-files/fit-demo/calibration.yaml

@@ -4,12 +4,34 @@ min_dist: 0.5
 max_dist: 2.0
 blur_threshold: 150.0
 markers:
-  10:
+  0:
+    pose:
+      position:
+        x: -0.729
+        y: 0
+        z: 0
+      orientation:
+        x: 0
+        y: 0
+        z: 0
+        w: 1
+  30:
     pose:
       position:
         x: 0
         y: 0
         z: 0
+      orientation:
+        x: 0
+        y: 0
+        z: 0
+        w: 1
+  49:
+    pose:
+      position:
+        x: 0.729
+        y: 0
+        z: 0
       orientation:
         x: 0
         y: 0

compose-files/fit-demo/docker-compose.yml

@@ -82,7 +82,7 @@ services:
       - ARCOR2_KINECT_AZURE_MOCK=true
 
   fit-demo-calibration:
-    image: arcor2/arcor2_calibration:1.0.0
+    image: arcor2/arcor2_calibration:1.1.0
     networks:
       - fit-demo-calibration-network
     ports:

src/docker/arcor2_calibration/BUILD

@@ -1,5 +1,5 @@
 shell_source(name="start.sh", source="start.sh")
 
 docker_image(
-    name="arcor2_calibration", repository="arcor2/arcor2_calibration", dependencies=[":start.sh"], image_tags=["1.0.0"]
+    name="arcor2_calibration", repository="arcor2/arcor2_calibration", dependencies=[":start.sh"], image_tags=["1.1.0"]
 )

src/python/arcor2_calibration/CHANGELOG.md

@@ -2,6 +2,12 @@
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 
+## [1.1.0] - 2024-02-07
+
+### Changed
+
+- Markers used to be from 7x7 dictionary, which is unnecessarily large, now a 4x4 dictionary of size 50 is used (use marker IDs 0..49).
+
 ## [1.0.0] - 2023-02-14
 
 ### Changed

src/python/arcor2_calibration/calibration.py

@@ -11,7 +11,7 @@
 
 BLUR_THRESHOLD: float = 150.0
 
-aruco_dict = aruco.getPredefinedDictionary(aruco.DICT_7X7_1000)
+aruco_dict = aruco.getPredefinedDictionary(aruco.DICT_4X4_50)
 detector_params = aruco.DetectorParameters()
 detector = aruco.ArucoDetector(aruco_dict, detector_params)
 

src/python/arcor2_calibration/tests/test_estimate_camera_pose.py

@@ -12,5 +12,7 @@ def test_estimate_camera_pose() -> None:
             [[1, 0.00000, 1], [0.00000, 1, 1], [0.00000, 0.00000, 1]], [1.0, 1.0, 1.0, 1.0], im, 0.1
         )
         assert len(markers) == 2
+        assert set(markers.keys()) == {0, 39}
+
         for pose in markers.values():
             assert isinstance(pose, Pose)