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Added stereo calibration using charuco board (backport #976) #1002

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Jul 16, 2024
Merged

Added stereo calibration using charuco board (backport #976) #1002

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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 @@ -491,8 +491,11 @@ 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 @@ -1151,29 +1154,28 @@ 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 @@ -1343,6 +1345,19 @@ 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 @@ -1399,11 +1414,12 @@ 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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