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Reprojection of Target Visualization Improvements #581

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Nov 24, 2022
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Reprojection of Target Visualization Improvements #581

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52 changes: 40 additions & 12 deletions aslam_cv/aslam_cameras/src/GridDetector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -130,19 +130,17 @@ bool GridDetector::findTarget(const cv::Mat & image, const aslam::Time & stamp,
SM_DEBUG_STREAM("estimateTransformation() failed");
}

//remove corners with a reprojection error above a threshold
//(remove detection outliers)
if(_options.filterCornerOutliers && success)
{
//calculate reprojection errors
std::vector<cv::Point2f> corners_reproj;
std::vector<cv::Point2f> corners_detected;
//calculate reprojection errors
auto compute_stats = [&](double &mean, double &std, Eigen::MatrixXd &reprojection_errors_norm,
std::vector<cv::Point2f> &corners_reproj, std::vector<cv::Point2f> &corners_detected) {

corners_reproj.clear();
corners_detected.clear();
outObservation.getCornerReprojection(_geometry, corners_reproj);
unsigned int numCorners = outObservation.getCornersImageFrame(corners_detected);

//calculate error norm
Eigen::MatrixXd reprojection_errors_norm = Eigen::MatrixXd::Zero(numCorners,1);

reprojection_errors_norm = Eigen::MatrixXd::Zero(numCorners,1);
for(unsigned int i=0; i<numCorners; i++ )
{
cv::Point2f reprojection_err = corners_detected[i] - corners_reproj[i];
Expand All @@ -152,8 +150,8 @@ bool GridDetector::findTarget(const cv::Mat & image, const aslam::Time & stamp,
}

//calculate statistics
double mean = reprojection_errors_norm.mean();
double std = 0.0;
mean = reprojection_errors_norm.mean();
std = 0.0;
for(unsigned int i=0; i<numCorners; i++)
{
double temp = reprojection_errors_norm(i,0)-mean;
Expand All @@ -162,6 +160,18 @@ bool GridDetector::findTarget(const cv::Mat & image, const aslam::Time & stamp,
std /= (double)numCorners;
std = sqrt(std);

};

//remove corners with a reprojection error above a threshold
//(remove detection outliers)
if(_options.filterCornerOutliers && success)
{
//calculate reprojection errors
double mean, std;
Eigen::MatrixXd reprojection_errors_norm;
std::vector<cv::Point2f> corners_reproj, corners_detected;
compute_stats(mean, std, reprojection_errors_norm, corners_reproj, corners_detected);

//disable outlier corners
std::vector<unsigned int> cornerIdx;
outObservation.getCornersIdx(cornerIdx);
Expand All @@ -179,7 +189,7 @@ bool GridDetector::findTarget(const cv::Mat & image, const aslam::Time & stamp,
}

if(removeCount>0)
SM_DEBUG_STREAM("removed " << removeCount << " of " << numCorners << " calibration target corner outliers\n";);
SM_DEBUG_STREAM("removed " << removeCount << " of " << reprojection_errors_norm.rows() << " calibration target corner outliers\n";);
}


Expand All @@ -196,6 +206,24 @@ bool GridDetector::findTarget(const cv::Mat & image, const aslam::Time & stamp,
for (unsigned int i = 0; i < reprojs.size(); i++)
cv::circle(imageCopy1, reprojs[i], 3, CV_RGB(255,0,0), 1);

//calculate reprojection errors
double mean, std;
Eigen::MatrixXd reprojection_errors_norm;
std::vector<cv::Point2f> corners_reproj, corners_detected;
compute_stats(mean, std, reprojection_errors_norm, corners_reproj, corners_detected);

// show the on the rendered image
auto format_str = [](double data) {
std::ostringstream ss;
ss << std::setprecision(3) << data;
return ss.str();
};
cv::putText(imageCopy1, "reproj err mean: " + format_str(mean),
cv::Point(50, 50), cv::FONT_HERSHEY_SIMPLEX, 0.8,
CV_RGB(0,255,0), 3, 8, false);
cv::putText(imageCopy1, "reproj err std: " + format_str(std),
cv::Point(50, 100), cv::FONT_HERSHEY_SIMPLEX, 0.8,
CV_RGB(0,255,0), 3, 8, false);

} else {
cv::putText(imageCopy1, "Detection failed! (frame not used)",
Expand Down
4 changes: 2 additions & 2 deletions aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/CameraCalibrator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -43,9 +43,9 @@ def __init__(self, cameraModel, targetConfig, dataset, geometry=None, verbose=Fa
self.dv = cameraModel.designVariable(self.geometry)
self.setDvActiveStatus(True, True, False)
self.isGeometryInitialized = False

#create target detector
self.ctarget = TargetDetector(targetConfig, self.geometry, showCorners=verbose, showReproj=verbose)
self.ctarget = TargetDetector(targetConfig, self.geometry, showCorners=verbose)

def setDvActiveStatus(self, projectionActive, distortionActive, shutterActice):
self.dv.projectionDesignVariable().setActive(projectionActive)
Expand Down