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fix: cv2.aruco.interpolateCornersCharuco is deprecated #979

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merged 2 commits into from
May 17, 2024
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fix: cv2.aruco.interpolateCornersCharuco is deprecated #979

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54e526b
bug: potential None reference in on_scale
tfoldi May 17, 2024
2865279
bug: fix CharucoBoard API related changes with cv2>=4.8
tfoldi May 17, 2024
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24 changes: 18 additions & 6 deletions camera_calibration/src/camera_calibration/calibrator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -88,8 +88,13 @@ def __init__(self, pattern="chessboard", n_cols = 0, n_rows = 0, dim = 0.0, mark
"7x7_100" : cv2.aruco.DICT_7X7_100,
"7x7_250" : cv2.aruco.DICT_7X7_250,
"7x7_1000" : cv2.aruco.DICT_7X7_1000}[aruco_dict])
self.charuco_board = cv2.aruco.CharucoBoard_create(self.n_cols, self.n_rows, self.dim, self.marker_size,
self.aruco_dict)
if cv2.__version__ >= '4.8.0':
self.charuco_board = cv2.aruco.CharucoBoard((self.n_cols, self.n_rows), self.dim, self.marker_size,
self.aruco_dict)
else:
self.charuco_board = cv2.aruco.CharucoBoard_create(self.n_cols, self.n_rows, self.dim, self.marker_size,
self.aruco_dict)


# Make all private!!!!!
def lmin(seq1, seq2):
Expand Down Expand Up @@ -268,10 +273,17 @@ def _get_charuco_corners(img, board, refine):
else:
mono = img

marker_corners, marker_ids, _ = cv2.aruco.detectMarkers(img, board.aruco_dict)
if len(marker_corners) == 0:
return (False, None, None)
_, square_corners, ids = cv2.aruco.interpolateCornersCharuco(marker_corners, marker_ids, img, board.charuco_board)

if cv2.__version__ >= '4.8.0':
charucodetector = cv2.aruco.CharucoDetector(board.charuco_board)
square_corners, ids, marker_corners, marker_ids = charucodetector.detectBoard(mono)
else:
marker_corners, marker_ids, _ = cv2.aruco.detectMarkers(img, board.aruco_dict)

if len(marker_corners) == 0:
return (False, None, None)
_, square_corners, ids = cv2.aruco.interpolateCornersCharuco(marker_corners, marker_ids, img, board.charuco_board, minMarkers=1)

return ((square_corners is not None) and (len(square_corners) > 5), square_corners, ids)

def _get_circles(img, board, pattern):
Expand Down
2 changes: 1 addition & 1 deletion camera_calibration/src/camera_calibration/camera_calibrator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -311,7 +311,7 @@ def on_model_change(self, model_select_val):
self.c.set_cammodel( CAMERA_MODEL.PINHOLE if model_select_val < 0.5 else CAMERA_MODEL.FISHEYE)

def on_scale(self, scalevalue):
if self.c.calibrated:
if self.c and self.c.calibrated:
self.c.set_alpha(scalevalue / 100.0)

def button(self, dst, label, enable):
Expand Down
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