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🛠️ fix(calibration_utils): Fix marker_corners variables initialization #16

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🛠️ fix(calibration_utils): Fix marker_corners variables initialization #16

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7 changes: 7 additions & 0 deletions calibration_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
from functools import reduce
from collections import deque
from typing import Optional
import re
# Creates a set of 13 polygon coordinates
rectProjectionMode = 0

Expand Down Expand Up @@ -918,6 +919,9 @@ def sgdEpipolar(self, images_left, images_right, M_lp, d_l, M_rp, d_r, r_l, r_r,
res2_l = self.detect_charuco_board(image_data_pair[0])
res2_r = self.detect_charuco_board(image_data_pair[1])

marker_corners_l = 0 if res2_l is None else res2_l[3]
marker_corners_r = 0 if res2_r is None else res2_r[3]

if res2_l[1] is not None and res2_r[2] is not None and len(res2_l[1]) > 3 and len(res2_r[1]) > 3:

cv2.cornerSubPix(image_data_pair[0], res2_l[1],
Expand Down Expand Up @@ -1155,6 +1159,9 @@ def test_epipolar_charuco(self, left_img_pth, right_img_pth, M_l, d_l, M_r, d_r,
for i, image_data_pair in enumerate(image_data_pairs):
res2_l = self.detect_charuco_board(image_data_pair[0])
res2_r = self.detect_charuco_board(image_data_pair[1])

marker_corners_l = 0 if res2_l is None else res2_l[3]
marker_corners_r = 0 if res2_r is None else res2_r[3]

if self.traceLevel == 2 or self.traceLevel == 4 or self.traceLevel == 10:
print(f'Marekrs length for pair {i} is: L {len(res2_l[1])} | R {len(res2_r[1])} ')
Expand Down