From f2335a73e9598437edebb07c8d5021a80b021e1a Mon Sep 17 00:00:00 2001 From: MRo47 Date: Tue, 30 Apr 2024 11:27:19 +0000 Subject: [PATCH] get charuco specific board points --- camera_calibration/src/camera_calibration/calibrator.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/camera_calibration/src/camera_calibration/calibrator.py b/camera_calibration/src/camera_calibration/calibrator.py index 3a1c787c3..3db5fb939 100644 --- a/camera_calibration/src/camera_calibration/calibrator.py +++ b/camera_calibration/src/camera_calibration/calibrator.py @@ -479,8 +479,10 @@ 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): - opts = [] - for i, b in enumerate(boards): + if self.pattern == Patterns.ChArUco: + opts = [board.charuco_board.chessboardCorners for board in boards] + return opts + for b in enumerate(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):