calibration: better warnings around board configuration #713 (#724)

ros-perception · Feb 1, 2024 · cdb7eb4 · cdb7eb4
1 parent 9b2468d
commit cdb7eb4
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/camera_calibration/src/camera_calibration/calibrator.py b/camera_calibration/src/camera_calibration/calibrator.py
@@ -323,14 +323,17 @@ def __init__(self, boards, flags=0, fisheye_flags = 0, pattern=Patterns.Chessboa
         if pattern == Patterns.Chessboard:
             # Make sure n_cols > n_rows to agree with OpenCV CB detector output
             self._boards = [ChessboardInfo("chessboard", max(i.n_cols, i.n_rows), min(i.n_cols, i.n_rows), i.dim) for i in boards]
-        if pattern == Patterns.ChArUco:
+        elif pattern == Patterns.ChArUco:
             self._boards = boards
         elif pattern == Patterns.ACircles:
             # 7x4 and 4x7 are actually different patterns. Assume square-ish pattern, so n_rows > n_cols.
             self._boards = [ChessboardInfo("acircles", min(i.n_cols, i.n_rows), max(i.n_cols, i.n_rows), i.dim) for i in boards]
         elif pattern == Patterns.Circles:
             # We end up having to check both ways anyway
             self._boards = boards
+        else:
+            raise CalibratorException('pattern must be one of: Chessboard, Circles, ACircles, or ChArUco')
+
 
         # Set to true after we perform calibration
         self.calibrated = False

diff --git a/camera_calibration/src/camera_calibration/camera_calibrator.py b/camera_calibration/src/camera_calibration/camera_calibrator.py
@@ -165,7 +165,7 @@ def handle_monocular(self, msg):
                                         max_chessboard_speed = self._max_chessboard_speed)
             else:
                 self.c = MonoCalibrator(self._boards, self._calib_flags, self._fisheye_calib_flags, self._pattern,
-                                        checkerboard_flags=self.checkerboard_flags,
+                                        checkerboard_flags=self._checkerboard_flags,
                                         max_chessboard_speed = self._max_chessboard_speed)
 
         # This should just call the MonoCalibrator