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[camera_calibration] fix/feat: enable to select range policy for 16 bit images #841

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[camera_calibration] fix/feat: enable to select range policy for 16 bit images #841

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8 changes: 7 additions & 1 deletion camera_calibration/nodes/cameracalibrator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -132,6 +132,9 @@ def main():
group.add_option("--max-chessboard-speed", type="float", default=-1.0,
help="Do not use samples where the calibration pattern is moving faster \
than this speed in px/frame. Set to eg. 0.5 for rolling shutter cameras.")
parser.add_option("-r", "--range-policy",
type="string", default="upper",
help="For 16 bit images, the policy to use for determining the range of pixel values to use for thresholding. Choose from 'upper', 'dynamic', or 'legacy'.")

parser.add_option_group(group)

Expand Down Expand Up @@ -219,10 +222,13 @@ def main():
else:
checkerboard_flags = cv2.CALIB_CB_FAST_CHECK

range_policy = options.range_policy
assert range_policy in ['upper', 'dynamic', 'legacy'], "Invalid range policy: %s" % range_policy

rospy.init_node('cameracalibrator')
node = OpenCVCalibrationNode(boards, options.service_check, sync, calib_flags, fisheye_calib_flags, pattern, options.camera_name,
checkerboard_flags=checkerboard_flags, max_chessboard_speed=options.max_chessboard_speed,
queue_size=options.queue_size)
queue_size=options.queue_size, range_policy=range_policy)
rospy.spin()

if __name__ == "__main__":
Expand Down
26 changes: 24 additions & 2 deletions camera_calibration/src/camera_calibration/calibrator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -318,7 +318,8 @@ class Calibrator():
Base class for calibration system
"""
def __init__(self, boards, flags=0, fisheye_flags = 0, pattern=Patterns.Chessboard, name='',
checkerboard_flags=cv2.CALIB_CB_FAST_CHECK, max_chessboard_speed = -1.0):
checkerboard_flags=cv2.CALIB_CB_FAST_CHECK, max_chessboard_speed = -1.0,
range_policy="upper"):
# Ordering the dimensions for the different detectors is actually a minefield...
if pattern == Patterns.Chessboard:
# Make sure n_cols > n_rows to agree with OpenCV CB detector output
Expand Down Expand Up @@ -353,6 +354,7 @@ def __init__(self, boards, flags=0, fisheye_flags = 0, pattern=Patterns.Chessboa
self.last_frame_corners = None
self.last_frame_ids = None
self.max_chessboard_speed = max_chessboard_speed
self.range_policy = range_policy

def mkgray(self, msg):
"""
Expand All @@ -362,7 +364,27 @@ def mkgray(self, msg):
# TODO: get a Python API in cv_bridge to check for the image depth.
if self.br.encoding_to_dtype_with_channels(msg.encoding)[0] in ['uint16', 'int16']:
mono16 = self.br.imgmsg_to_cv2(msg, '16UC1')
mono8 = numpy.array(mono16 / 256, dtype=numpy.uint8)
if self.range_policy == "upper":
# this policy works when the image is too bright
mono16 = self.br.imgmsg_to_cv2(msg, '16UC1')
mono8 = numpy.array(mono16 / 256, dtype=numpy.uint8)
elif self.range_policy == "dynamic":
min_val, max_val, _, _ = cv2.minMaxLoc(mono16)
value_range = max_val - min_val
if value_range > 0:
mono8_float = (mono16 - min_val) * (255.0 / value_range)
else:
mono8_float = mono16
mono8 = mono8_float.astype(numpy.uint8)
elif self.range_policy == "legacy":
# revival of old behavior removed in
# https://github.com/ros-perception/image_pipeline/pull/334
# this policy works when the image is too dark which might be the case
# with old IR cameras
mono8 = numpy.array(numpy.clip(mono16, 0, 255), dtype=numpy.uint8)
else:
assert False, "Unknown range policy '%s'" % self.range_policy

return mono8
elif 'FC1' in msg.encoding:
# floating point image handling
Expand Down
14 changes: 8 additions & 6 deletions camera_calibration/src/camera_calibration/camera_calibrator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -109,8 +109,8 @@ def run(self):

class CalibrationNode:
def __init__(self, boards, service_check = True, synchronizer = message_filters.TimeSynchronizer, flags = 0,
fisheye_flags = 0, pattern=Patterns.Chessboard, camera_name='', checkerboard_flags = 0,
max_chessboard_speed = -1, queue_size = 1):
fisheye_flags = 0, pattern=Patterns.Chessboard, camera_name = '', checkerboard_flags = 0,
max_chessboard_speed = -1, queue_size = 1, range_policy = "upper"):
if service_check:
# assume any non-default service names have been set. Wait for the service to become ready
for svcname in ["camera", "left_camera", "right_camera"]:
Expand All @@ -132,6 +132,8 @@ def __init__(self, boards, service_check = True, synchronizer = message_filters.
self._pattern = pattern
self._camera_name = camera_name
self._max_chessboard_speed = max_chessboard_speed
self._range_policy = range_policy

lsub = message_filters.Subscriber('left', sensor_msgs.msg.Image)
rsub = message_filters.Subscriber('right', sensor_msgs.msg.Image)
ts = synchronizer([lsub, rsub], 4)
Expand Down Expand Up @@ -178,11 +180,11 @@ def handle_monocular(self, msg):
if self._camera_name:
self.c = MonoCalibrator(self._boards, self._calib_flags, self._fisheye_calib_flags, self._pattern, name=self._camera_name,
checkerboard_flags=self._checkerboard_flags,
max_chessboard_speed = self._max_chessboard_speed)
max_chessboard_speed=self._max_chessboard_speed, range_policy=self._range_policy)
else:
self.c = MonoCalibrator(self._boards, self._calib_flags, self._fisheye_calib_flags, self._pattern,
checkerboard_flags=self.checkerboard_flags,
max_chessboard_speed = self._max_chessboard_speed)
max_chessboard_speed=self._max_chessboard_speed, range_policy=self._range_policy)

# This should just call the MonoCalibrator
drawable = self.c.handle_msg(msg)
Expand All @@ -194,11 +196,11 @@ def handle_stereo(self, msg):
if self._camera_name:
self.c = StereoCalibrator(self._boards, self._calib_flags, self._fisheye_calib_flags, self._pattern, name=self._camera_name,
checkerboard_flags=self._checkerboard_flags,
max_chessboard_speed = self._max_chessboard_speed)
max_chessboard_speed=self._max_chessboard_speed, range_policy=self._range_policy)
else:
self.c = StereoCalibrator(self._boards, self._calib_flags, self._fisheye_calib_flags, self._pattern,
checkerboard_flags=self._checkerboard_flags,
max_chessboard_speed = self._max_chessboard_speed)
max_chessboard_speed=self._max_chessboard_speed, range_policy=self._range_policy)

drawable = self.c.handle_msg(msg)
self.displaywidth = drawable.lscrib.shape[1] + drawable.rscrib.shape[1]
Expand Down