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Changed camera model to pinhole (no lens distortion) for non-wide cameras #1094

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Changed camera model to pinhole (no lens distortion) for non-wide cameras #1094

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6 changes: 3 additions & 3 deletions calibrate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -866,13 +866,13 @@ def calibrate(self):
for camera in result_config['cameras'].keys():
cam_info = result_config['cameras'][camera]
# log_list.append(self.ccm_selected[cam_info['name']])
reprojection_error_threshold = 1.0
reprojection_error_threshold = 3.0
if cam_info['size'][1] > 720:
#print(cam_info['size'][1])
reprojection_error_threshold = reprojection_error_threshold * cam_info['size'][1] / 720

if cam_info['name'] == 'rgb':
reprojection_error_threshold = 3
reprojection_error_threshold = 6
print('Reprojection error threshold -> {}'.format(reprojection_error_threshold))

if cam_info['reprojection_error'] > reprojection_error_threshold:
Expand Down Expand Up @@ -903,7 +903,7 @@ def calibrate(self):
right_cam = result_config['cameras'][cam_info['extrinsics']['to_cam']]['name']
left_cam = cam_info['name']

epipolar_threshold = 0.6
epipolar_threshold = 1.2

if cam_info['extrinsics']['epipolar_error'] > epipolar_threshold:
color = red
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5 changes: 3 additions & 2 deletions depthai_helpers/calibration_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -483,10 +483,11 @@ def calibrate_camera_charuco(self, allCorners, allIds, imsize, hfov):
print(cameraMatrixInit)

distCoeffsInit = np.zeros((5, 1))
flags = (cv2.CALIB_USE_INTRINSIC_GUESS +
flags_rational = (cv2.CALIB_USE_INTRINSIC_GUESS +
cv2.CALIB_RATIONAL_MODEL)
flags_pinhole = (cv2.CALIB_USE_INTRINSIC_GUESS + cv2.CALIB_ZERO_TANGENT_DIST + cv2.CALIB_FIX_K1 + cv2.CALIB_FIX_K2 + cv2.CALIB_FIX_K3)
flags = flags_pinhole

# flags = (cv2.CALIB_RATIONAL_MODEL)
(ret, camera_matrix, distortion_coefficients,
rotation_vectors, translation_vectors,
stdDeviationsIntrinsics, stdDeviationsExtrinsics,
Expand Down