Skip to content

Handle charuco with rational polynomial model #1098

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 2 commits into
base: rolling
Choose a base branch
from
Open

Handle charuco with rational polynomial model #1098

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
6bd78f2
Handle charuco with rational model
RBT22 May 7, 2025
f291ed9
Merge branch 'rolling' into fix/rolling-charuco-calib
RBT22 May 22, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
21 changes: 11 additions & 10 deletions camera_calibration/src/camera_calibration/mono_calibrator.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -115,8 +115,8 @@ def cal_fromcorners(self, good):
raise NotImplemented(
"Can't perform fisheye calibration with ChArUco board")

reproj_err, self.intrinsics, self.distortion, rvecs, tvecs = cv2.aruco.calibrateCameraCharuco(
ipts, ids, boards[0].charuco_board, self.size, intrinsics_in, None)
reproj_err, self.intrinsics, dist_coeffs, rvecs, tvecs = cv2.aruco.calibrateCameraCharuco(
ipts, ids, boards[0].charuco_board, self.size, intrinsics_in, None, flags=self.calib_flags)

elif self.camera_model == CAMERA_MODEL.PINHOLE:
print("mono pinhole calibration...")
Expand All @@ -126,14 +126,7 @@ def cal_fromcorners(self, good):
intrinsics_in,
None,
flags=self.calib_flags)
# OpenCV returns more than 8 coefficients (the additional ones all zeros) when CALIB_RATIONAL_MODEL is set.
# The extra ones include e.g. thin prism coefficients, which we are not interested in.
if self.calib_flags & cv2.CALIB_RATIONAL_MODEL:
# rational polynomial
self.distortion = dist_coeffs.flat[:8].reshape(-1, 1)
else:
# plumb bob
self.distortion = dist_coeffs.flat[:5].reshape(-1, 1)

elif self.camera_model == CAMERA_MODEL.FISHEYE:
print("mono fisheye calibration...")
# WARNING: cv2.fisheye.calibrate wants float64 points
Expand All @@ -145,6 +138,14 @@ def cal_fromcorners(self, good):
opts, ipts, self.size,
intrinsics_in, None, flags=self.fisheye_calib_flags)

# OpenCV returns more than 8 coefficients (the additional ones all zeros) when CALIB_RATIONAL_MODEL is set.
# The extra ones include e.g. thin prism coefficients, which we are not interested in.
if self.pattern == Patterns.ChArUco or self.camera_model == CAMERA_MODEL.PINHOLE:
if self.calib_flags & cv2.CALIB_RATIONAL_MODEL:
self.distortion = dist_coeffs.flat[:8].reshape(-1, 1) # rational polynomial
else:
self.distortion = dist_coeffs.flat[:5].reshape(-1, 1) # plumb bob

# R is identity matrix for monocular calibration
self.R = numpy.eye(3, dtype=numpy.float64)
self.P = numpy.zeros((3, 4), dtype=numpy.float64)
Expand Down