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get charuco chessboard pts if using charuco
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MRo47 committed Apr 28, 2024
1 parent d3c7fd0 commit 6834a56
Showing 1 changed file with 4 additions and 1 deletion.
5 changes: 4 additions & 1 deletion camera_calibration/src/camera_calibration/calibrator.py
Original file line number Diff line number Diff line change
Expand Up @@ -476,8 +476,11 @@ def compute_goodenough(self):
return list(zip(self._param_names, min_params, max_params, progress))

def mk_object_points(self, boards, use_board_size = False):
if self.pattern == Patterns.ChArUco:
opts = [board.charuco_board.chessboardCorners for board in boards]
return opts
opts = []
for i, b in enumerate(boards):
for b in boards:
num_pts = b.n_cols * b.n_rows
opts_loc = numpy.zeros((num_pts, 1, 3), numpy.float32)
for j in range(num_pts):
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