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CHANGELOG.md

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Changelog

The format is based on Keep a Changelog,

[1.2.0] - 2024-04-11

Changed

  • Updated dependencies, switched to Python 3.11.

[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

  • Marked as a stable version.
  • Health check end-point changed to /healthz/ready.

[0.9.0] - 2022-10-28

Changed

  • Switched to Python 3.10, updated dependencies.

[0.8.0] - 2022-09-15

Changed

  • BREAKING: Implement new error handling flow. Error codes of every endpoint were replaced with error types as described in swagger documentation.
  • Updated to reflect changes in cv2.aruco.

[0.7.0] - 2021-10-25

Changed

  • New environment variables:
    • ARCOR2_CALIBRATION_DEBUG to turn on debugging.
    • ARCOR2_CALIBRATION_MOCK to start in mock mode.

[0.6.1] - 2021-07-29

Fixed

  • Handle invalid input parameters (camera matrix).
  • Scale down images to a common resolution before computing blur score.

[0.6.0] - 2021-06-11

Changed

  • Improved quality estimation (take orientation into account).
  • Reject blurry images.

[0.5.0] - 2021-05-21

Changed

  • PUT /calibrate/camera now returns EstimatedPose (pose + quality).

Fixed

  • Command line arguments fixed.
    • It is mandatory to provide -c (path to a configuration file) or one of -s (prints OpenAPI) or -m (start as mock).

[0.4.0] - 2021-04-26

Changed

  • The service now requires YAML configuration file where placement of markers is specified.
  • There might be 1-n markers in an arbitrary pose.
  • At least one of the configured markers should be visible.
  • Un-configured markers are ignored.
  • Estimated poses of the camera from multiple detected markers are so far simply averaged.
  • The average is weighted according to the camera-marker distance.

[0.3.0] - 2021-03-30

Changed

  • PUT /calibrate/camera now has inverse parameter.

[0.2.0] - 2021-02-08

Changed

  • Part of the code refactored into arcor2/flask.py.
  • API for getting pixel coordinates of markers corners.
    • Approx. three times faster than camera calibration.

[0.1.1] - 2020-12-14

Changed

  • Bump version to allow reupload to pypi

[0.1.0] - 2020-12-14

Changed

  • Initial release of the package.
  • Support for camera calibration.
  • Support for robot calibration.
    • URDF model of the robot needed.
    • Requires depth camera (e.g. Kinect).
  • --mock argument to start the service in a simulation mode.