Skip to content

Fix circlegrid corners #737

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
chris-hagen wants to merge 1 commit into
base: master
Choose a base branch
from
Open

Fix circlegrid corners #737

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions aslam_cv/aslam_cameras/include/aslam/cameras/GridCalibrationTargetCirclegrid.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,9 @@ class GridCalibrationTargetCirclegrid : public GridCalibrationTargetBase {
bool computeObservation(const cv::Mat &image, Eigen::MatrixXd &outImagePoints,
std::vector<bool> &outCornerObserved) const;

/// \brief receive the circlegrid options
const CirclegridOptions options() const {return _options;}

private:
/// \brief initialize the object
void initialize();
Expand Down
12 changes: 11 additions & 1 deletion aslam_cv/aslam_cameras/include/aslam/cameras/implementation/OmniProjection.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,3 +1,5 @@
#include <aslam/cameras/GridCalibrationTargetCirclegrid.hpp>

namespace aslam {

namespace cameras {
Expand Down Expand Up @@ -773,7 +775,15 @@ bool OmniProjection<DISTORTION_T>::initializeIntrinsics(const std::vector<GridCa
}

// MIN_CORNERS is an arbitrary threshold for the number of corners
const size_t MIN_CORNERS = 4;
size_t MIN_CORNERS = 4;

// allow asymmetric circle grids with half of the minimum corners as 2 asymmetric columns are treated a 1
if (const aslam::cameras::GridCalibrationTargetCirclegrid* circleGrid = dynamic_cast<const aslam::cameras::GridCalibrationTargetCirclegrid*>(&target)){
if (circleGrid->options().useAsymmetricCirclegrid){
MIN_CORNERS = MIN_CORNERS / 2;
}
}

if (count > MIN_CORNERS)
{
// Resize P to fit with the count of valid points.
Expand Down
10 changes: 9 additions & 1 deletion aslam_cv/aslam_cameras/src/OmniCameraGeometry.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -523,7 +523,15 @@ bool OmniProjection::initializeIntrinsics(
}
}

const int MIN_CORNERS = 8;
int MIN_CORNERS = 8;

// allow asymmetric circle grids with half of the minimum corners as 2 asymmetric columns are treated a 1
if (const aslam::cameras::GridCalibrationTargetCirclegrid* circleGrid = dynamic_cast<const aslam::cameras::GridCalibrationTargetCirclegrid*>(&target)){
if (circleGrid->options().useAsymmetricCirclegrid){
MIN_CORNERS = MIN_CORNERS / 2;
}
}

// MIN_CORNERS is an arbitrary threshold for the number of corners
if (count > MIN_CORNERS) {
// Resize P to fit with the count of valid points.
Expand Down