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Correction of the position of obj to be able to run extrinsic correction

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This commit is contained in:
Anaaim 2023-11-07 15:34:14 +01:00
parent c53553d8a3
commit ed0ae4b18a
1 changed files with 4 additions and 4 deletions
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8
Pose2Sim/calibration.py
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@ -657,13 +657,13 @@ def calibrate_extrinsics(calib_dir, extrinsics_config_dict, C, S, K, D):
# Find corners or label by hand
if extrinsics_board_type == 'checkerboard':
imgp = findCorners(img_vid_files[0], extrinsics_corners_nb, objp=[], show=show_reprojection_error)
objp = np.zeros((extrinsics_corners_nb[0] * extrinsics_corners_nb[1], 3), np.float32)
objp[:, :2] = np.mgrid[0:extrinsics_corners_nb[0], 0:extrinsics_corners_nb[1]].T.reshape(-1, 2)
objp[:, :2] = objp[:, 0:2] * extrinsics_square_size
imgp, objp_not_used = findCorners(img_vid_files[0], extrinsics_corners_nb, objp=objp, show=show_reprojection_error)
if imgp == []:
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"')
objp = np.zeros((extrinsics_corners_nb[0]*extrinsics_corners_nb[1],3), np.float32)
objp[:,:2] = np.mgrid[0:extrinsics_corners_nb[0],0:extrinsics_corners_nb[1]].T.reshape(-1,2)
objp[:,:2] = objp[:,0:2]*extrinsics_square_size
elif extrinsics_board_type == 'scene':
imgp, objp = imgp_objp_visualizer_clicker(img, imgp=[], objp=object_coords_3d, img_path=img_vid_files[0])