Commit 6f3f0fdc authored by Guillaume CLIVAZ's avatar Guillaume CLIVAZ
Browse files

[calibration/wip] Multiple modifications in the calibration script

- Add calibration configuration in Json with calibration parameters, flags, files list,...
- Remove charuco frames with a number of markers < 4 detected
- Fix bugs (object points for charuco, flags in calibrateCamera)
- Display the camera pose
parent 31bae09e
Pipeline #48609 failed with stage
in 8 minutes and 20 seconds
This diff is collapsed.
{
"capture_directory" : "data/charuco",
"stream_config" : "data/minibatl_stream_config.json",
"pattern_type": "charuco",
"pattern_rows": 10,
"pattern_columns": 7,
"square_size" : 21,
"marker_size" : 10.5,
"intrinsics":
{
"fix_center_point" : false,
"fix_aspect_ratio" : false,
"fix_focal_length" : false,
"zero_tang_dist" : false,
"use_intrinsic_guess" : false,
"intrinsics_guess" :
{
"f" : [1200, 1200],
"center_point" : [540.5, 768],
"dist_coefs" : [0 ,0, 0, 0, 0]
}
},
"frames_list": {
"20210304_1648_01_00_0000_000_1a698ad0.h5" : [0],
"20210304_1648_01_00_0000_000_b3de43c5.h5" : [1],
"20210304_1649_01_00_0000_000_fb19a242.h5" : [0],
"20210304_1650_01_00_0000_000_ac061c0d.h5" : [0],
"20210304_1651_01_00_0000_000_3195159e.h5" : [1],
"20210304_1651_01_00_0000_000_574ef391.h5" : [0],
"20210304_1651_01_00_0000_000_5e350835.h5" : [0],
"20210304_1651_01_00_0000_000_b43908a7.h5" : [1],
"20210304_1652_01_00_0000_000_2f2a754e.h5" : [0],
"20210304_1652_01_00_0000_000_55f1f12e.h5" : [0],
"20210304_1652_01_00_0000_000_ee569664.h5" : [0],
"20210304_1652_01_00_0000_000_ef5d1b9d.h5" : [0],
"20210304_1652_01_00_0000_000_fee5eb32.h5" : [0],
"20210304_1652_01_00_0000_000_ff616aa3.h5" : [0],
"20210304_1653_01_00_0000_000_097ca9af.h5" : [0],
"20210304_1653_01_00_0000_000_1cb4c2e1.h5" : [0],
"20210304_1653_01_00_0000_000_4207aa48.h5" : [0],
"20210304_1653_01_00_0000_000_a8948c6f.h5" : [0],
"20210304_1653_01_00_0000_000_c02e96da.h5" : [0],
"20210304_1653_01_00_0000_000_cc4656ec.h5" : [0],
"20210304_1654_01_00_0000_000_1c7a229c.h5" : [0],
"20210304_1654_01_00_0000_000_20c63083.h5" : [0]
},
"display":
{
"axe_x" : [-25, 25],
"axe_y" : [-25, 25],
"axe_z" : [-10, 10]
}
}
{
"capture_directory" : "data/chessboard",
"stream_config" : "data/minibatl_stream_config.json",
"pattern_type": "chessboard",
"pattern_rows": 10,
"pattern_columns": 7,
"square_size" : 21,
"intrinsics":
{
"fix_center_point" : false,
"fix_aspect_ratio" : false,
"fix_focal_length" : false,
"zero_tang_dist" : false,
"use_intrinsic_guess" : false,
"intrinsics_guess" :
{
"f" : [1200, 1200],
"center_point" : [540.5, 768],
"dist_coefs" : [0 ,0, 0, 0, 0]
}
},
"frames_list": {
"20210304_1656_01_00_0000_000_6610f83c.h5": [1, 3],
"20210304_1659_01_00_0000_000_b6dcb21b.h5": [0, 2],
"20210304_1657_01_00_0000_000_3a4a4a7c.h5": [0, 2],
"20210304_1657_01_00_0000_000_3378aeb0.h5": [1, 3],
"20210304_1657_01_00_0000_000_b92d2326.h5": [1, 3],
"20210304_1658_01_00_0000_000_b4c6e297.h5": [0, 2],
"20210304_1656_01_00_0000_000_3366da52.h5": [1, 3],
"20210304_1659_01_00_0000_000_2e648018.h5": [1, 3],
"20210304_1658_01_00_0000_000_ebbe4e79.h5": [0, 2],
"20210304_1656_01_00_0000_000_014df636.h5": [1, 3],
"20210304_1659_01_00_0000_000_d2bd00f7.h5": [0, 2],
"20210304_1658_01_00_0000_000_44c0e392.h5": [1, 3],
"20210304_1656_01_00_0000_000_e33e1b6e.h5": [0, 2]
},
"display":
{
"axe_x" : [-25, 25],
"axe_y" : [-25, 25],
"axe_z" : [-10, 10]
}
}
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