Add extrinsic calibration CLI tool
Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-opencode) Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
This commit is contained in:
@@ -0,0 +1,243 @@
|
||||
import click
|
||||
import cv2
|
||||
import json
|
||||
import numpy as np
|
||||
import pyzed.sl as sl
|
||||
from pathlib import Path
|
||||
from typing import List, Dict, Any, Optional
|
||||
|
||||
from aruco.marker_geometry import load_marker_geometry, validate_marker_geometry
|
||||
from aruco.svo_sync import SVOReader
|
||||
from aruco.detector import (
|
||||
create_detector,
|
||||
detect_markers,
|
||||
build_camera_matrix_from_zed,
|
||||
estimate_pose_from_detections,
|
||||
)
|
||||
from aruco.pose_math import rvec_tvec_to_matrix, invert_transform, matrix_to_rvec_tvec
|
||||
from aruco.pose_averaging import PoseAccumulator
|
||||
from aruco.preview import draw_detected_markers, draw_pose_axes, show_preview
|
||||
|
||||
|
||||
@click.command()
|
||||
@click.option("--svo", "-s", multiple=True, required=False, help="Path to SVO files.")
|
||||
@click.option("--markers", "-m", required=True, help="Path to markers parquet file.")
|
||||
@click.option("--output", "-o", default="extrinsics.json", help="Output JSON file.")
|
||||
@click.option(
|
||||
"--sample-interval", "-n", default=30, type=int, help="Sample every N frames."
|
||||
)
|
||||
@click.option(
|
||||
"--max-reproj-error",
|
||||
"-e",
|
||||
default=2.0,
|
||||
type=float,
|
||||
help="Max reprojection error for pose.",
|
||||
)
|
||||
@click.option("--preview/--no-preview", default=True, help="Show preview window.")
|
||||
@click.option(
|
||||
"--validate-markers/--no-validate", default=True, help="Validate marker geometry."
|
||||
)
|
||||
@click.option(
|
||||
"--self-check/--no-self-check", default=False, help="Perform self-check on result."
|
||||
)
|
||||
def main(
|
||||
svo,
|
||||
markers,
|
||||
output,
|
||||
sample_interval,
|
||||
max_reproj_error,
|
||||
preview,
|
||||
validate_markers,
|
||||
self_check,
|
||||
):
|
||||
"""
|
||||
Calibrate camera extrinsics relative to a global coordinate system defined by ArUco markers.
|
||||
"""
|
||||
# 1. Load Marker Geometry
|
||||
try:
|
||||
marker_geometry = load_marker_geometry(markers)
|
||||
if validate_markers:
|
||||
validate_marker_geometry(marker_geometry)
|
||||
click.echo(f"Loaded {len(marker_geometry)} markers from {markers}")
|
||||
except Exception as e:
|
||||
click.echo(f"Error loading markers: {e}", err=True)
|
||||
raise SystemExit(1)
|
||||
|
||||
if not svo:
|
||||
if validate_markers:
|
||||
click.echo("Marker validation successful. No SVOs provided, exiting.")
|
||||
return
|
||||
else:
|
||||
click.echo(
|
||||
"Error: --svo is required unless --validate-markers is used.", err=True
|
||||
)
|
||||
raise click.UsageError("Missing option '--svo' / '-s'.")
|
||||
|
||||
# 2. Initialize SVO Reader
|
||||
reader = SVOReader(svo)
|
||||
if not reader.cameras:
|
||||
click.echo("No SVO files could be opened.", err=True)
|
||||
return
|
||||
|
||||
# Align SVOs
|
||||
reader.sync_to_latest_start()
|
||||
|
||||
# Calculate max frames to process to avoid infinite loop
|
||||
max_frames = 10000 # Default safety limit
|
||||
if reader.cameras:
|
||||
remaining = []
|
||||
for i, cam in enumerate(reader.cameras):
|
||||
total = reader.camera_info[i]["total_frames"]
|
||||
if total > 0:
|
||||
current = cam.get_svo_position()
|
||||
remaining.append(total - current)
|
||||
else:
|
||||
# If any total_frames is unknown (<= 0), use a hard limit
|
||||
remaining = [10000]
|
||||
break
|
||||
if remaining:
|
||||
max_frames = min(remaining)
|
||||
else:
|
||||
click.echo(
|
||||
"Warning: Could not determine SVO lengths, using safety limit of 10,000 frames."
|
||||
)
|
||||
|
||||
serials = [info["serial"] for info in reader.camera_info]
|
||||
accumulators = {serial: PoseAccumulator() for serial in serials}
|
||||
camera_matrices = {
|
||||
serial: build_camera_matrix_from_zed(cam)
|
||||
for serial, cam in zip(serials, reader.cameras)
|
||||
}
|
||||
|
||||
detector = create_detector()
|
||||
|
||||
frame_count = 0
|
||||
sampled_count = 0
|
||||
|
||||
click.echo(f"Processing SVOs: {serials}")
|
||||
|
||||
try:
|
||||
while frame_count < max_frames:
|
||||
frames = reader.grab_synced()
|
||||
if not any(frames):
|
||||
break
|
||||
|
||||
if frame_count % sample_interval == 0:
|
||||
preview_frames = {}
|
||||
for i, frame in enumerate(frames):
|
||||
if frame is None:
|
||||
continue
|
||||
|
||||
serial = frame.serial_number
|
||||
K = camera_matrices[serial]
|
||||
|
||||
# Detect markers
|
||||
corners, ids = detect_markers(frame.image, detector)
|
||||
|
||||
if ids is None:
|
||||
if preview:
|
||||
preview_frames[serial] = frame.image
|
||||
continue
|
||||
|
||||
# Estimate pose (T_cam_from_world)
|
||||
pose_res = estimate_pose_from_detections(
|
||||
corners, ids, marker_geometry, K, min_markers=4
|
||||
)
|
||||
|
||||
if pose_res:
|
||||
rvec, tvec, reproj_err, n_markers = pose_res
|
||||
if reproj_err <= max_reproj_error:
|
||||
T_cam_world = rvec_tvec_to_matrix(rvec, tvec)
|
||||
# We want T_world_from_cam
|
||||
T_world_cam = invert_transform(T_cam_world)
|
||||
accumulators[serial].add_pose(
|
||||
T_world_cam, reproj_err, frame_count
|
||||
)
|
||||
|
||||
if preview:
|
||||
img = draw_detected_markers(
|
||||
frame.image.copy(), corners, ids
|
||||
)
|
||||
img = draw_pose_axes(img, rvec, tvec, K, length=0.2)
|
||||
preview_frames[serial] = img
|
||||
elif preview:
|
||||
preview_frames[serial] = frame.image
|
||||
|
||||
if preview and preview_frames:
|
||||
key = show_preview(preview_frames)
|
||||
if key == 27 or key == ord("q"):
|
||||
break
|
||||
|
||||
sampled_count += 1
|
||||
|
||||
frame_count += 1
|
||||
if frame_count % 100 == 0:
|
||||
counts = [len(acc.poses) for acc in accumulators.values()]
|
||||
click.echo(
|
||||
f"Frame {frame_count}, Detections: {dict(zip(serials, counts))}"
|
||||
)
|
||||
|
||||
except KeyboardInterrupt:
|
||||
click.echo("\nInterrupted by user.")
|
||||
finally:
|
||||
reader.close()
|
||||
cv2.destroyAllWindows()
|
||||
|
||||
# 3. Compute Final Poses
|
||||
results = {}
|
||||
for serial, acc in accumulators.items():
|
||||
if not acc.poses:
|
||||
click.echo(f"Warning: No valid poses for camera {serial}")
|
||||
continue
|
||||
|
||||
# Use RANSAC to find best consensus
|
||||
inliers = acc.ransac_filter()
|
||||
T_mean, stats = acc.compute_robust_mean(inliers)
|
||||
|
||||
# Flatten for JSON as space-separated string
|
||||
pose_str = " ".join(f"{x:.6f}" for x in T_mean.flatten())
|
||||
|
||||
results[str(serial)] = {"pose": pose_str, "stats": stats}
|
||||
click.echo(
|
||||
f"Camera {serial}: {stats['n_inliers']}/{stats['n_total']} inliers, median error: {stats['median_reproj_error']:.3f}"
|
||||
)
|
||||
|
||||
if not results:
|
||||
click.echo("No extrinsics computed.", err=True)
|
||||
return
|
||||
|
||||
# 4. Save to JSON
|
||||
with open(output, "w") as f:
|
||||
json.dump(results, f, indent=4, sort_keys=True)
|
||||
click.echo(f"Saved extrinsics to {output}")
|
||||
|
||||
# 5. Optional Self-Check
|
||||
if self_check:
|
||||
# Verify reprojection error
|
||||
for serial, data in results.items():
|
||||
if data["stats"]["median_reproj_error"] > max_reproj_error:
|
||||
click.echo(
|
||||
f"Error: Camera {serial} failed self-check (median error {data['stats']['median_reproj_error']:.3f} > {max_reproj_error})",
|
||||
err=True,
|
||||
)
|
||||
raise SystemExit(1)
|
||||
|
||||
# Simple check: verify distance between cameras if multiple
|
||||
if len(results) >= 2:
|
||||
serials_list = sorted(results.keys())
|
||||
for i in range(len(serials_list)):
|
||||
for j in range(i + 1, len(serials_list)):
|
||||
s1 = serials_list[i]
|
||||
s2 = serials_list[j]
|
||||
p1 = np.fromstring(results[s1]["pose"], sep=" ").reshape(4, 4)[
|
||||
:3, 3
|
||||
]
|
||||
p2 = np.fromstring(results[s2]["pose"], sep=" ").reshape(4, 4)[
|
||||
:3, 3
|
||||
]
|
||||
dist = np.linalg.norm(p1 - p2)
|
||||
click.echo(f"Self-check: Distance {s1} <-> {s2}: {dist:.3f}m")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
Reference in New Issue
Block a user