def __init__(self, camera_config, target_config):
target_params = target_config.getTargetParams()
target_type = target_config.getTargetType()
# Set up target
if target_type == 'checkerboard':
grid = acv.GridCalibrationTargetCheckerboard(
target_params['targetRows'], target_params['targetCols'],
target_params['rowSpacingMeters'],
target_params['colSpacingMeters'])
elif target_type == 'circlegrid':
options = acv.CirclegridOptions()
options.useAsymmetricCirclegrid = target_params['asymmetricGrid']
grid = acv.GridCalibrationTargetCirclegrid(
target_params['targetRows'], target_params['targetCols'],
target_params['spacingMeters'], options)
elif target_type == 'aprilgrid':
grid = acv_april.GridCalibrationTargetAprilgrid(
target_params['tagRows'], target_params['tagCols'],
target_params['tagSize'], target_params['tagSpacing'])
else:
raise RuntimeError("Unknown calibration target.")
# Setup detector
options = acv.GridDetectorOptions()
options.filterCornerOutliers = True
self.detector = acv.GridDetector(camera_config.geometry, grid, options)
def __init__(self,
targetConfig,
cameraGeometry,
gridpoints=None,
showCorners=False,
showReproj=False,
showOneStep=False):
self.targetConfig = targetConfig
#initialize the calibration target
targetParams = targetConfig.getTargetParams()
targetType = targetConfig.getTargetType()
if targetType == 'checkerboard':
options = acv.CheckerboardOptions()
options.filterQuads = True
options.normalizeImage = True
options.useAdaptiveThreshold = True
options.performFastCheck = False
options.windowWidth = 5
options.showExtractionVideo = showCorners
self.grid = acv.GridCalibrationTargetCheckerboard(
targetParams['targetRows'], targetParams['targetCols'],
targetParams['rowSpacingMeters'],
targetParams['colSpacingMeters'], options)
elif targetType == 'circlegrid':
options = acv.CirclegridOptions()
options.showExtractionVideo = showCorners
options.useAsymmetricCirclegrid = targetParams['asymmetricGrid']
self.grid = acv.GridCalibrationTargetCirclegrid(
targetParams['targetRows'], targetParams['targetCols'],
targetParams['spacingMeters'], options)
elif targetType == 'aprilgrid':
options = acv_april.AprilgridOptions()
#enforce more than one row --> pnp solution can be bad if all points are almost on a line...
options.minTagsForValidObs = int(
np.max([targetParams['tagRows'], targetParams['tagCols']]) + 1)
options.showExtractionVideo = showCorners
self.grid = acv_april.GridCalibrationTargetAprilgrid(
targetParams['tagRows'], targetParams['tagCols'],
targetParams['tagSize'], targetParams['tagSpacing'], options)
elif targetType == 'general':
self.grid = acv.GridCalibrationTargetGeneral(
targetParams['tagRows'], targetParams['tagCols'])
self.grid.setPoints(gridpoints)
else:
RuntimeError('Unknown calibration target type!')
options = acv.GridDetectorOptions()
options.imageStepping = showOneStep
options.plotCornerReprojection = showReproj
options.filterCornerOutliers = False
self.detector = acv.GridDetector(cameraGeometry, self.grid, options)
def setupCalibrationTarget(self,
targetConfig,
showExtraction=False,
showReproj=False,
imageStepping=False):
#load the calibration target configuration
targetParams = targetConfig.getTargetParams()
targetType = targetConfig.getTargetType()
if targetType == 'checkerboard':
options = acv.CheckerboardOptions()
options.showExtractionVideo = showExtraction
grid = acv.GridCalibrationTargetCheckerboard(
targetParams['targetRows'], targetParams['targetCols'],
targetParams['rowSpacingMeters'],
targetParams['colSpacingMeters'], options)
elif targetType == 'circlegrid':
options = acv.CirclegridOptions()
options.showExtractionVideo = showExtraction
options.useAsymmetricCirclegrid = targetParams['asymmetricGrid']
grid = acv.GridCalibrationTargetCirclegrid(
targetParams['targetRows'], targetParams['targetCols'],
targetParams['spacingMeters'], options)
elif targetType == 'aprilgrid':
options = acv_april.AprilgridOptions()
options.showExtractionVideo = showExtraction
options.minTagsForValidObs = int(
np.max([targetParams['tagRows'], targetParams['tagCols']]) + 1)
grid = acv_april.GridCalibrationTargetAprilgrid(
targetParams['tagRows'], targetParams['tagCols'],
targetParams['tagSize'], targetParams['tagSpacing'], options)
else:
raise RuntimeError("Unknown calibration target.")
options = acv.GridDetectorOptions()
options.imageStepping = imageStepping
options.plotCornerReprojection = showReproj
options.filterCornerOutliers = True
#options.filterCornerSigmaThreshold = 2.0
#options.filterCornerMinReprojError = 0.2
self.detector = acv.GridDetector(self.camera.geometry, grid, options)
def __init__(self,
targetConfig,
cameraGeometry,
showCorners=False,
showReproj=False,
showOneStep=False):
self.targetConfig = targetConfig
#initialize the calibration target
targetParams = targetConfig.getTargetParams()
targetType = targetConfig.getTargetType()
if targetType == 'checkerboard':
options = acv.CheckerboardOptions()
options.filterQuads = True
options.normalizeImage = True
options.useAdaptiveThreshold = True
options.performFastCheck = False
options.windowWidth = 5
options.showExtractionVideo = showCorners
self.grid = acv.GridCalibrationTargetCheckerboard(
targetParams['targetRows'], targetParams['targetCols'],
targetParams['rowSpacingMeters'],
targetParams['colSpacingMeters'], options)
elif targetType == 'circlegrid':
options = acv.CirclegridOptions()
options.showExtractionVideo = showCorners
options.useAsymmetricCirclegrid = targetParams['asymmetricGrid']
self.grid = acv.GridCalibrationTargetCirclegrid(
targetParams['targetRows'], targetParams['targetCols'],
targetParams['spacingMeters'], options)
elif targetType == 'aprilgrid':
options = acv_april.AprilgridOptions()
#enforce more than one row --> pnp solution can be bad if all points are almost on a line...
options.minTagsForValidObs = int(
np.max([targetParams['tagRows'], targetParams['tagCols']]) + 1)
options.showExtractionVideo = showCorners
self.grid = acv_april.GridCalibrationTargetAprilgrid(
targetParams['tagRows'], targetParams['tagCols'],
targetParams['tagSize'], targetParams['tagSpacing'], options)
elif targetType == 'assymetric_aprilgrid':
options = acv_april.AprilgridOptions()
#enforce more than one row --> pnp solution can be bad if all points are almost on a line...
options.minTagsForValidObs = 1
options.showExtractionVideo = showCorners
#options.maxSubpixDisplacement2 = 2
#options.doSubpixRefinement = False
vectorTags = []
for tag in targetParams['tags']:
structTag = acv_april.TargetPoint()
structTag.x = tag["pos"][0]
structTag.y = tag["pos"][1]
structTag.size = tag["size"]
vectorTags.append(structTag)
self.grid = acv_april.GridCalibrationTargetAssymetricAprilgrid(
vectorTags, options)
else:
RuntimeError('Unknown calibration target type!')
options = acv.GridDetectorOptions()
options.imageStepping = showOneStep
options.plotCornerReprojection = showReproj
options.filterCornerOutliers = False
self.detector = acv.GridDetector(cameraGeometry, self.grid, options)