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Fix charuco rational polynomial distortion model calibration #2

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Oct 1, 2024
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Fix charuco rational polynomial distortion model calibration #2

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19 changes: 11 additions & 8 deletions camera_calibration/src/camera_calibration/calibrator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -776,8 +776,8 @@ def cal_fromcorners(self, good):
if self.camera_model == CAMERA_MODEL.FISHEYE:
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 @@ -787,12 +787,7 @@ 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:
self.distortion = dist_coeffs.flat[:8].reshape(-1, 1) # rational polynomial
else:
self.distortion = dist_coeffs.flat[:5].reshape(-1, 1) # plumb bob

elif self.camera_model == CAMERA_MODEL.FISHEYE:
print("mono fisheye calibration...")
# WARNING: cv2.fisheye.calibrate wants float64 points
Expand All @@ -804,6 +799,14 @@ 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)
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