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[Iron] Added stereo calibration using aruco markers #972

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@MRo47 MRo47 commented Apr 28, 2024

This was a TODO in the repository, opening this PR to add this feature.

  • The main issue why this wasn't possible imo is the way mk_obj_points works. I'm using the inbuilt opencv function to get the points there.
  • The other is a condition when aruco markers are detected they are added as good points, This is fine in case of mono but in stereo these have to be the same number as the object points to find matches although this should be possible with aruco.
  • This also has the dictionary name corrections I mentioned in [Iron] Fix aruco dictionary names  #971

Noob to contributing in this repo, any guidelines, rules I should be following before doing PR's here?

@MRo47 MRo47 changed the title Added stereo calibration using aruco markers [Iron] Added stereo calibration using aruco markers Apr 28, 2024
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This PR is targeting iron, you should change retarget this PR to rolling, then if this is not breaking API we can backport the changes to iron

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MRo47 commented May 20, 2024

@ahcorde , opened a PR for this #976 in rolling a few weeks ago, waiting on this till then.

ahcorde pushed a commit that referenced this pull request Jun 3, 2024
From #972 
Doing this first for rolling.

This was a TODO in the repository, opening this PR to add this feature.
- The main issue why this wasn't possible imo is the way `mk_obj_points`
works. I'm using the inbuilt opencv function to get the points there.
- The other is a condition when aruco markers are detected they are
added as good points, This is fine in case of mono but in stereo these
have to be the same number as the object points to find matches although
this should be possible with aruco.
mergify bot pushed a commit that referenced this pull request Jun 20, 2024
From #972
Doing this first for rolling.

This was a TODO in the repository, opening this PR to add this feature.
- The main issue why this wasn't possible imo is the way `mk_obj_points`
works. I'm using the inbuilt opencv function to get the points there.
- The other is a condition when aruco markers are detected they are
added as good points, This is fine in case of mono but in stereo these
have to be the same number as the object points to find matches although
this should be possible with aruco.

(cherry picked from commit efb9005)
mergify bot pushed a commit that referenced this pull request Jun 20, 2024
From #972
Doing this first for rolling.

This was a TODO in the repository, opening this PR to add this feature.
- The main issue why this wasn't possible imo is the way `mk_obj_points`
works. I'm using the inbuilt opencv function to get the points there.
- The other is a condition when aruco markers are detected they are
added as good points, This is fine in case of mono but in stereo these
have to be the same number as the object points to find matches although
this should be possible with aruco.

(cherry picked from commit efb9005)

# Conflicts:
#	camera_calibration/src/camera_calibration/calibrator.py
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ahcorde commented Jun 20, 2024

Closing this PR in favour of this other #1003 created with mergify

@ahcorde ahcorde closed this Jun 20, 2024
ahcorde pushed a commit that referenced this pull request Jul 16, 2024
From #972 
Doing this first for rolling.

This was a TODO in the repository, opening this PR to add this feature.
- The main issue why this wasn't possible imo is the way `mk_obj_points`
works. I'm using the inbuilt opencv function to get the points there.
- The other is a condition when aruco markers are detected they are
added as good points, This is fine in case of mono but in stereo these
have to be the same number as the object points to find matches although
this should be possible with aruco.<hr>This is an automatic backport of
pull request #976 done by [Mergify](https://mergify.com).

Co-authored-by: Myron Rodrigues <[email protected]>
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2 participants