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Adds scaling option for calibrators #783

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Adds scaling option for calibrators #783

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c8083ef
Adds scale parameter for downsampling
Nov 18, 2022
a7733f9
Fix small mistakes
Nov 18, 2022
974f9c7
Adds stereo support for scale parameter
Nov 18, 2022
942c276
Changes default behaviour
Dec 18, 2022
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11 changes: 8 additions & 3 deletions camera_calibration/nodes/cameracalibrator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -132,6 +132,9 @@ def main():
group.add_option("--max-chessboard-speed", type="float", default=-1.0,
help="Do not use samples where the calibration pattern is moving faster \
than this speed in px/frame. Set to eg. 0.5 for rolling shutter cameras.")
group.add_option("--scale", type="float", default=None,
help="Scaling option for the input image relative to 640x480. \
Default scaled to 640x480, 1.0 result with no up/down scaling")

parser.add_option_group(group)

Expand Down Expand Up @@ -220,9 +223,11 @@ def main():
checkerboard_flags = cv2.CALIB_CB_FAST_CHECK

rospy.init_node('cameracalibrator')
node = OpenCVCalibrationNode(boards, options.service_check, sync, calib_flags, fisheye_calib_flags, pattern, options.camera_name,
checkerboard_flags=checkerboard_flags, max_chessboard_speed=options.max_chessboard_speed,
queue_size=options.queue_size)
node = OpenCVCalibrationNode(boards, options.service_check, sync,
calib_flags, fisheye_calib_flags, pattern, options.camera_name,
checkerboard_flags=checkerboard_flags,
max_chessboard_speed=options.max_chessboard_speed,
queue_size=options.queue_size, img_downscale=options.scale)
rospy.spin()

if __name__ == "__main__":
Expand Down
12 changes: 9 additions & 3 deletions camera_calibration/src/camera_calibration/calibrator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -305,8 +305,11 @@ class Calibrator():
"""
Base class for calibration system
"""
def __init__(self, boards, flags=0, fisheye_flags = 0, pattern=Patterns.Chessboard, name='',
checkerboard_flags=cv2.CALIB_CB_FAST_CHECK, max_chessboard_speed = -1.0):
def __init__(self, boards, flags=0, fisheye_flags = 0,
pattern=Patterns.Chessboard, name='',
checkerboard_flags=cv2.CALIB_CB_FAST_CHECK,
max_chessboard_speed = -1.0,
scale = None):
# Ordering the dimensions for the different detectors is actually a minefield...
if pattern == Patterns.Chessboard:
# Make sure n_cols > n_rows to agree with OpenCV CB detector output
Expand Down Expand Up @@ -341,6 +344,7 @@ def __init__(self, boards, flags=0, fisheye_flags = 0, pattern=Patterns.Chessboa
self.last_frame_corners = None
self.last_frame_ids = None
self.max_chessboard_speed = max_chessboard_speed
self.scale = scale

def mkgray(self, msg):
"""
Expand Down Expand Up @@ -520,7 +524,9 @@ def downsample_and_detect(self, img):
# Scale the input image down to ~VGA size
height = img.shape[0]
width = img.shape[1]
scale = math.sqrt( (width*height) / (640.*480.) )

scale = float(self.scale) if self.scale else math.sqrt( (width*height) / (640.*480.) )

if scale > 1.0:
scrib = cv2.resize(img, (int(width / scale), int(height / scale)))
else:
Expand Down
44 changes: 29 additions & 15 deletions camera_calibration/src/camera_calibration/camera_calibrator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -108,9 +108,12 @@ def run(self):


class CalibrationNode:
def __init__(self, boards, service_check = True, synchronizer = message_filters.TimeSynchronizer, flags = 0,
fisheye_flags = 0, pattern=Patterns.Chessboard, camera_name='', checkerboard_flags = 0,
max_chessboard_speed = -1, queue_size = 1):
def __init__(self, boards, service_check = True,
synchronizer = message_filters.TimeSynchronizer, flags = 0,
fisheye_flags = 0, pattern=Patterns.Chessboard, camera_name='',
checkerboard_flags = 0, max_chessboard_speed = -1,
queue_size = 1, img_downscale = None):

if service_check:
# assume any non-default service names have been set. Wait for the service to become ready
for svcname in ["camera", "left_camera", "right_camera"]:
Expand All @@ -131,6 +134,7 @@ def __init__(self, boards, service_check = True, synchronizer = message_filters.
self._checkerboard_flags = checkerboard_flags
self._pattern = pattern
self._camera_name = camera_name
self._img_scale = img_downscale
self._max_chessboard_speed = max_chessboard_speed
lsub = message_filters.Subscriber('left', sensor_msgs.msg.Image)
rsub = message_filters.Subscriber('right', sensor_msgs.msg.Image)
Expand Down Expand Up @@ -176,13 +180,18 @@ def queue_stereo(self, lmsg, rmsg):
def handle_monocular(self, msg):
if self.c == None:
if self._camera_name:
self.c = MonoCalibrator(self._boards, self._calib_flags, self._fisheye_calib_flags, self._pattern, name=self._camera_name,
checkerboard_flags=self._checkerboard_flags,
max_chessboard_speed = self._max_chessboard_speed)
self.c = MonoCalibrator(self._boards, self._calib_flags,
self._fisheye_calib_flags, self._pattern,
name=self._camera_name,
checkerboard_flags=self._checkerboard_flags,
max_chessboard_speed=self._max_chessboard_speed,
scale = self._img_scale)
else:
self.c = MonoCalibrator(self._boards, self._calib_flags, self._fisheye_calib_flags, self._pattern,
checkerboard_flags=self.checkerboard_flags,
max_chessboard_speed = self._max_chessboard_speed)
self.c = MonoCalibrator(self._boards, self._calib_flags,
self._fisheye_calib_flags, self._pattern,
checkerboard_flags = self._checkerboard_flags,
max_chessboard_speed = self._max_chessboard_speed,
scale = self._img_scale)

# This should just call the MonoCalibrator
drawable = self.c.handle_msg(msg)
Expand All @@ -192,13 +201,18 @@ def handle_monocular(self, msg):
def handle_stereo(self, msg):
if self.c == None:
if self._camera_name:
self.c = StereoCalibrator(self._boards, self._calib_flags, self._fisheye_calib_flags, self._pattern, name=self._camera_name,
checkerboard_flags=self._checkerboard_flags,
max_chessboard_speed = self._max_chessboard_speed)
self.c = StereoCalibrator(self._boards, self._calib_flags,
self._fisheye_calib_flags, self._pattern,
name=self._camera_name,
checkerboard_flags=self._checkerboard_flags,
max_chessboard_speed=self._max_chessboard_speed,
scale=self._img_scale)
else:
self.c = StereoCalibrator(self._boards, self._calib_flags, self._fisheye_calib_flags, self._pattern,
checkerboard_flags=self._checkerboard_flags,
max_chessboard_speed = self._max_chessboard_speed)
self.c = StereoCalibrator(self._boards, self._calib_flags,
self._fisheye_calib_flags, self._pattern,
checkerboard_flags=self._checkerboard_flags,
max_chessboard_speed=self._max_chessboard_speed,
scale=self._img_scale)

drawable = self.c.handle_msg(msg)
self.displaywidth = drawable.lscrib.shape[1] + drawable.rscrib.shape[1]
Expand Down