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fixed calibration if board and show=false

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davidpagnon 2024-11-03 21:41:43 +01:00
parent c89c3e8490
commit 344b299fb3
1 changed files with 9 additions and 7 deletions
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16
Pose2Sim/calibration.py
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@ -649,8 +649,7 @@ def calibrate_extrinsics(calib_dir, extrinsics_config_dict, C, S, K, D):
extrinsics_method = extrinsics_config_dict.get('extrinsics_method') extrinsics_method = extrinsics_config_dict.get('extrinsics_method')
ret, R, T = [], [], [] ret, R, T = [], [], []
if extrinsics_method in ('board', 'scene'): if extrinsics_method in {'board', 'scene'}:
# Define 3D object points # Define 3D object points
if extrinsics_method == 'board': if extrinsics_method == 'board':
@ -691,7 +690,8 @@ def calibrate_extrinsics(calib_dir, extrinsics_config_dict, C, S, K, D):
# Find corners or label by hand # Find corners or label by hand
if extrinsics_method == 'board': if extrinsics_method == 'board':
imgp, objp = findCorners(img_vid_files[0], extrinsics_corners_nb, objp=object_coords_3d, show=show_reprojection_error) imgp = findCorners(img_vid_files[0], extrinsics_corners_nb, objp=object_coords_3d, show=show_reprojection_error)
objp = object_coords_3d
if len(imgp) == 0: if len(imgp) == 0:
logging.exception('No corners found. Set "show_detection_extrinsics" to true to click corners by hand, or change extrinsic_board_type to "scene"') logging.exception('No corners found. Set "show_detection_extrinsics" to true to click corners by hand, or change extrinsic_board_type to "scene"')
raise ValueError('No corners found. Set "show_detection_extrinsics" to true to click corners by hand, or change extrinsic_board_type to "scene"') raise ValueError('No corners found. Set "show_detection_extrinsics" to true to click corners by hand, or change extrinsic_board_type to "scene"')
@ -779,8 +779,8 @@ def findCorners(img_path, corner_nb, objp=[], show=True):
INPUTS: INPUTS:
- img_path: path to image (or video) - img_path: path to image (or video)
- corner_nb: [H, W] internal corners in checkerboard: list of two integers [4,7] - corner_nb: [H, W] internal corners in checkerboard: list of two integers [4,7]
- optionnal: show: choose whether to show corner detections - optional: show: choose whether to show corner detections
- optionnal: objp: array [3d corner coordinates] - optional: objp: array [3d corner coordinates]
OUTPUTS: OUTPUTS:
- imgp_confirmed: array of [[2d corner coordinates]] - imgp_confirmed: array of [[2d corner coordinates]]
@ -820,14 +820,16 @@ def findCorners(img_path, corner_nb, objp=[], show=True):
imgp_objp_confirmed = imgp_objp_visualizer_clicker(img, imgp=imgp, objp=objp, img_path=img_path) imgp_objp_confirmed = imgp_objp_visualizer_clicker(img, imgp=imgp, objp=objp, img_path=img_path)
else: else:
imgp_objp_confirmed = imgp imgp_objp_confirmed = imgp
# If corners are not found, dismiss or click points by hand # If corners are not found, dismiss or click points by hand
else: else:
logging.info(f'{os.path.basename(img_path)}: Corners not found. To label them by hand, set "show_detection_intrinsics" to true in the Config.toml file.')
if show: if show:
# Visualizer and key press event handler # Visualizer and key press event handler
logging.info(f'{os.path.basename(img_path)}: Corners not found: please label them by hand.')
imgp_objp_confirmed = imgp_objp_visualizer_clicker(img, imgp=[], objp=objp, img_path=img_path) imgp_objp_confirmed = imgp_objp_visualizer_clicker(img, imgp=[], objp=objp, img_path=img_path)
else: else:
logging.info(f'{os.path.basename(img_path)}: Corners not found. To label them by hand, set "show_detection_intrinsics" to true in the Config.toml file.')
imgp_objp_confirmed = [] imgp_objp_confirmed = []
return imgp_objp_confirmed return imgp_objp_confirmed
@ -852,7 +854,7 @@ def imgp_objp_visualizer_clicker(img, imgp=[], objp=[], img_path=''):
INPUTS: INPUTS:
- img: image opened with openCV - img: image opened with openCV
- optional: imgp: detected image points, to be accepted or not. Array of [[2d corner coordinates]] - optional: imgp: detected image points, to be accepted or not. Array of [[2d corner coordinates]]
- optionnal: objp: array of [3d corner coordinates] - optional: objp: array of [3d corner coordinates]
- optional: img_path: path to image - optional: img_path: path to image
OUTPUTS: OUTPUTS: