[calibration] Calibration for all pair of camera + update visualization

bob/ip/stereo/calibration.py

@@ -48,6 +48,8 @@ def detect_charuco_corners(image, prep_im, charuco_board, verbosity):
     """
     """
     corners, ids = None, None
+    image = np.flip(image, 0)
+    prep_im = np.flip(prep_im, 0)
     if prep_im is None:
         markers, ids, rejected_points = cv2.aruco.detectMarkers(image, charuco_board.dictionary)
     else:
@@ -235,8 +237,8 @@ def detect_patterns(directory_path, data_config_path,
                               .format(capture_name, stream.name))
 
                 elif pattern_type == "charuco":
-                    image = np.flip(image, 0)
-                    prep_image = np.flip(prep_image, 0)
+                    #image = np.flip(image, 0)
+                    #prep_image = np.flip(prep_image, 0)
                     ret , ptrn_pts, ids = detect_charuco_corners(image, prep_image, charuco_board, verbosity)
                     if ids is not None:
                         capture_dict[stream.name][capture_name] = (ids, ptrn_pts)
@@ -433,8 +435,11 @@ def main():
             print("Camera matrix \n {} \n Distortion coeffs \n {} \n".format(cam_mat, dist_coefs))
             print("Reprojection error \n {}\n".format(err))
 
-        if not intrinsics_only:
-            for camera_2 in stream[idx+1:]:
+    if not intrinsics_only:
+        for idx, camera in enumerate(stream):
+            for camera_2 in stream:
+                if camera_2 == camera:
+                    continue
                 df_extrinsics = get_valid_frames_for_extrinsic_calibration(pts, camera, camera_2, pattern_type)
                 calibration[camera]["df_extrinsics_{}".format(camera_2)] = df_extrinsics
                 if verbosity > 1:
@@ -447,7 +452,10 @@ def main():
     stream = [k for k, v in calibration.items() if v is not None]
     for idx, camera in enumerate(stream):
         image_size = image_data[camera]
-        for camera_2 in stream[idx+1:]:# or with itertools.tee()
+        for camera_2 in stream:# or with itertools.tee()
+            if camera_2 == camera:
+                continue
+
             if image_data[camera_2] != image_size:
                 raise ValueError("Image size between {} and {} does not match.".format(camera, camera_2))
             if not "df_extrinsics_{}".format(camera_2) in calibration[camera].keys():
@@ -477,16 +485,6 @@ def main():
                 print("Rotation \n {} \nTranslation \n {} \n".format(R, T.T))
                 print("Reprojection error \n {}\n".format(err))
 
-    # Visualize with color as reference
-    poses = {}
-    reference = "left"
-    for camera in stream:
-        if camera ==reference:
-            poses[reference] = np.eye(4)
-        else:
-            poses[camera] = calibration[reference]["extrinsics_{}".format(camera)]
-    display_cameras_poses(poses, config['display'])
-
     if args.output_file is not None:
         data = {}
         for camera in stream:
@@ -496,5 +494,16 @@ def main():
             json.dump(data, f, indent=4, sort_keys=True)
         print("{} written.".format(args.output_file))
 
+    for reference in config["display"]["references"]:
+        poses = {}
+        #reference = "left"
+        for camera in stream:
+            if camera ==reference:
+                poses[reference] = np.eye(4)
+            else:
+                poses[camera] = calibration[reference]["extrinsics_{}".format(camera)]
+        display_cameras_poses(poses, config['display'])
+
+
 if __name__ == "__main__":
     main()

bob/ip/stereo/config/candy_charuco.json

@@ -47,6 +47,7 @@
     },
     "display":
     {
+        "references" : ["left"],
         "axe_x" : [-25, 25],
         "axe_y" : [-25, 25],
         "axe_z" : [-10, 10]

bob/ip/stereo/config/charuco_calib_config.json

@@ -48,6 +48,7 @@
     },
     "display":
     {
+        "references" : ["color", "nir_left", "nir_right"],
         "axe_x" : [-25, 25],
         "axe_y" : [-25, 25],
         "axe_z" : [-10, 10]

bob/ip/stereo/config/chessboard_calib_config.json

@@ -38,6 +38,7 @@
     },
     "display":
     {
+        "references" : ["color", "nir_left", "nir_right"],
         "axe_x" : [-25, 25],
         "axe_y" : [-25, 25],
         "axe_z" : [-10, 10]