Added stereo calibration using charuco board

ros-perception / image_pipeline

An image processing pipeline for ROS.

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Added stereo calibration using charuco board #976

Closed MRo47 closed 4 months ago

MRo47 commented 5 months ago

From #972 Doing this first for rolling.

This was a TODO in the repository, opening this PR to add this feature.

The main issue why this wasn't possible imo is the way mk_obj_points works. I'm using the inbuilt opencv function to get the points there.
The other is a condition when aruco markers are detected they are added as good points, This is fine in case of mono but in stereo these have to be the same number as the object points to find matches although this should be possible with aruco.

MRo47 commented 4 months ago

@ahcorde my bad, thought there was some rosdep issue in pipeline. Fixed now

MRo47 commented 4 months ago

@ahcorde any reason we are waiting on this?

ahcorde commented 3 months ago

https://github.com/Mergifyio backport jazzy iron

mergify[bot] commented 3 months ago

backport jazzy iron

✅ Backports have been created

* [#1002 Added stereo calibration using charuco board (backport #976)](https://github.com/ros-perception/image_pipeline/pull/1002) has been created for branch `jazzy` * [#1003 Added stereo calibration using charuco board (backport #976)](https://github.com/ros-perception/image_pipeline/pull/1003) has been created for branch `iron` but encountered conflicts