perf: skip frames, roi, fixed aspect ratio #225
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
copy calibration tools from private repository
merge main for galactic release
…g elements for eval mode
…and calibration parameters into a file, change ui elements in eval mode.
…luation_mode Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
…rinsics_evaluation_mode Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
…e' into feat/camera_profiles
knzo25
reviewed
Jan 16, 2025
...mera_calibrator/intrinsic_camera_calibrator/intrinsic_camera_calibrator/camera_calibrator.py
Show resolved
Hide resolved
knzo25
reviewed
Jan 16, 2025
...brator/intrinsic_camera_calibrator/intrinsic_camera_calibrator/camera_models/camera_model.py
Show resolved
Hide resolved
knzo25
requested changes
Jan 16, 2025
…rator/intrinsic_camera_calibrator/camera_calibrator.py Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>
…rator/intrinsic_camera_calibrator/camera_models/camera_model.py Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>
I was checking a book that has a good explanation of the rectification process, and the equations used on the undistortion map seem to be good, https://amroamroamro.github.io/mexopencv/matlab/cv.initUndistortRectifyMap.html https://books.google.ch/books?id=seAgiOfu2EIC&lpg=PA373&pg=PA373#v=onepage&q&f=false |
knzo25
reviewed
Jan 20, 2025
| # if chessboard was found, keep track of the region to try to detect easily in the next frame | ||
| if detected: | ||
| self.roi = get_roi(corners, img.shape[:2]) | ||
| self.lost_frames = 0 |
There was a problem hiding this comment.
self.lost_frames is reset in a protected way now, but it is not here
There was a problem hiding this comment.
Maybe I'm wrong, but we are protecting this value because it might change the max value on the UI side. So, is it necessary to add a lock here?
knzo25
reviewed
Jan 20, 2025
...intrinsic_camera_calibrator/intrinsic_camera_calibrator/intrinsic_camera_calibrator/utils.py
Outdated
Show resolved
Hide resolved
knzo25
reviewed
Jan 20, 2025
..._camera_calibrator/intrinsic_camera_calibrator/intrinsic_camera_calibrator/data_collector.py
Outdated
Show resolved
Hide resolved
knzo25
reviewed
Jan 20, 2025
| @@ -992,6 +1016,9 @@ def process_detection_results(self, img: np.array, detection: BoardDetection, im | |||
| alpha_indicators=self.indicators_alpha_spinbox.value(), | |||
| value=False, | |||
| ) | |||
| self.skip_next_img = ( | |||
| self.frames_to_skip.value | |||
There was a problem hiding this comment.
You are accessed an unprotected value
…rator/intrinsic_camera_calibrator/data_collector.py Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>
…rator/intrinsic_camera_calibrator/utils.py Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
This PR includes:
-ROI to keep track of the calibration board, making future detections faster (performance improvement).
-Will skip board detection on some future frames, if the board was not detected on the current frame (avoid long queues).
-Increase the decimal digits when saving intrinsic parameters, to avoid the bubble effect when rectifying the image.
-Fix the issue that suddenly was pausing the operation of the calibration tool.
-Implements a new method to fix the aspect ratio on the rectified image.
-Changes the distortion model according to the number of distortion coefficients.
Related links
Tests performed
Tested mainly on an x86 platform and using rosbags, but also non-extensive tests on anvil were performed.
Notes for reviewers
It might have some spelling errors, please let me know.
Pre-review checklist for the PR author
The PR author must check the checkboxes below when creating the PR.
In-review checklist for the PR reviewers
The PR reviewers must check the checkboxes below before approval.
Post-review checklist for the PR author
The PR author must check the checkboxes below before merging.
After all checkboxes are checked, anyone who has write access can merge the PR.