Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Added stereo calibration using charuco board (backport #976) #1003

Open
wants to merge 3 commits into
base: iron
Choose a base branch
from
Open

Added stereo calibration using charuco board (backport #976) #1003

Changes from 1 commit
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
547a1a8
Added stereo calibration using charuco board (#976)
MRo47 Jun 3, 2024
d248eed
fix merge conflict
mikeferguson Oct 29, 2024
d69dcdf
fix merge
mikeferguson Oct 29, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
63 changes: 45 additions & 18 deletions camera_calibration/src/camera_calibration/calibrator.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -476,8 +476,11 @@ def compute_goodenough(self):
return list(zip(self._param_names, min_params, max_params, progress))

def mk_object_points(self, boards, use_board_size = False):
if self.pattern == Patterns.ChArUco:
opts = [board.charuco_board.chessboardCorners for board in boards]
return opts
opts = []
for i, b in enumerate(boards):
for b in boards:
num_pts = b.n_cols * b.n_rows
opts_loc = numpy.zeros((num_pts, 1, 3), numpy.float32)
for j in range(num_pts):
Expand Down Expand Up @@ -1136,12 +1139,9 @@ def cal_fromcorners(self, good):
self.T = numpy.zeros((3, 1), dtype=numpy.float64)
self.R = numpy.eye(3, dtype=numpy.float64)

if self.pattern == Patterns.ChArUco:
# TODO: implement stereo ChArUco calibration
raise NotImplemented("Stereo calibration not implemented for ChArUco boards")

if self.camera_model == CAMERA_MODEL.PINHOLE:
print("stereo pinhole calibration...")
<<<<<<< HEAD
if LooseVersion(cv2.__version__).version[0] == 2:
cv2.stereoCalibrate(opts, lipts, ripts, self.size,
self.l.intrinsics, self.l.distortion,
Expand All @@ -1150,15 +1150,28 @@ def cal_fromcorners(self, good):
self.T, # T
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 1, 1e-5),
flags = flags)
=======
if VersionInfo.parse(cv2.__version__).major < 3:
ret_values = cv2.stereoCalibrate(opts, lipts, ripts, self.size,
self.l.intrinsics, self.l.distortion,
self.r.intrinsics, self.r.distortion,
self.R, # R
self.T, # T
criteria=(cv2.TERM_CRITERIA_EPS + \
cv2.TERM_CRITERIA_MAX_ITER, 1, 1e-5),
flags=flags)
>>>>>>> efb9005 (Added stereo calibration using charuco board (#976))
else:
cv2.stereoCalibrate(opts, lipts, ripts,
self.l.intrinsics, self.l.distortion,
self.r.intrinsics, self.r.distortion,
self.size,
self.R, # R
self.T, # T
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 1, 1e-5),
flags = flags)
ret_values = cv2.stereoCalibrate(opts, lipts, ripts,
self.l.intrinsics, self.l.distortion,
self.r.intrinsics, self.r.distortion,
self.size,
self.R, # R
self.T, # T
criteria=(cv2.TERM_CRITERIA_EPS + \
cv2.TERM_CRITERIA_MAX_ITER, 1, 1e-5),
flags=flags)
print(f"Stereo RMS re-projection error: {ret_values[0]}")
elif self.camera_model == CAMERA_MODEL.FISHEYE:
print("stereo fisheye calibration...")
if LooseVersion(cv2.__version__).version[0] == 2:
Expand Down Expand Up @@ -1328,6 +1341,19 @@ def l2(p0, p1):
[l2(pt3d[c + 0], pt3d[c + (cc * (cr - 1))]) / (cr - 1) for c in range(cc)])
return sum(lengths) / len(lengths)

def update_db(self, lgray, rgray, lcorners, rcorners, lids, rids, lboard):
"""
update database with images and good corners if good samples are detected
"""
params = self.get_parameters(
lcorners, lids, lboard, (lgray.shape[1], lgray.shape[0]))
if self.is_good_sample(params, lcorners, lids, self.last_frame_corners, self.last_frame_ids):
self.db.append((params, lgray, rgray))
self.good_corners.append(
(lcorners, rcorners, lids, rids, lboard))
print(("*** Added sample %d, p_x = %.3f, p_y = %.3f, p_size = %.3f, skew = %.3f" %
tuple([len(self.db)] + params)))

def handle_msg(self, msg):
# TODO Various asserts that images have same dimension, same board detected...
(lmsg, rmsg) = msg
Expand Down Expand Up @@ -1384,11 +1410,12 @@ def handle_msg(self, msg):

# Add sample to database only if it's sufficiently different from any previous sample
if lcorners is not None and rcorners is not None and len(lcorners) == len(rcorners):
params = self.get_parameters(lcorners, lids, lboard, (lgray.shape[1], lgray.shape[0]))
if self.is_good_sample(params, lcorners, lids, self.last_frame_corners, self.last_frame_ids):
self.db.append( (params, lgray, rgray) )
self.good_corners.append( (lcorners, rcorners, lids, rids, lboard) )
print(("*** Added sample %d, p_x = %.3f, p_y = %.3f, p_size = %.3f, skew = %.3f" % tuple([len(self.db)] + params)))
# Add samples only with entire board in view if charuco
if self.pattern == Patterns.ChArUco:
if len(lcorners) == lboard.charuco_board.chessboardCorners.shape[0]:
self.update_db(lgray, rgray, lcorners, rcorners, lids, rids, lboard)
else:
self.update_db(lgray, rgray, lcorners, rcorners, lids, rids, lboard)

self.last_frame_corners = lcorners
self.last_frame_ids = lids
Expand Down
Loading