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Added stereo calibration using charuco board #976

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merged 4 commits into from
Jun 3, 2024
Merged

Added stereo calibration using charuco board #976

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16a4caf
show reroj error + remove not implemented
MRo47 Apr 30, 2024
f2335a7
get charuco specific board points
MRo47 Apr 30, 2024
cc13e23
remove enumeration in for
MRo47 May 22, 2024
d703ddc
add missing opts init
MRo47 May 22, 2024
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66 changes: 41 additions & 25 deletions camera_calibration/src/camera_calibration/calibrator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -479,8 +479,11 @@ 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 @@ -1139,29 +1142,28 @@ 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...")
if VersionInfo.parse(cv2.__version__).major < 3:
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)
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)
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 VersionInfo.parse(cv2.__version__).major < 3:
Expand Down Expand Up @@ -1331,6 +1333,19 @@ 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 @@ -1387,11 +1402,12 @@ 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
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