Skip to content

feat(camera_intrinsics_calibrator): added a pickle dump for the intrinsics #247

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 2 commits into
base: tier4/universe
Choose a base branch
from
Open

feat(camera_intrinsics_calibrator): added a pickle dump for the intrinsics #247

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
47d915d
feat: added a pickle dump for the intrinsics
knzo25 Apr 9, 2025
b73d6cb
Merge branch 'tier4/universe' into feat/pickle_dump
knzo25 Apr 9, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
42 changes: 40 additions & 2 deletions ...a_calibrator/intrinsic_camera_calibrator/intrinsic_camera_calibrator/camera_calibrator.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -947,8 +947,16 @@ def on_save_clicked(self):
if not os.path.exists(evaluation_folder):
os.mkdir(evaluation_folder)

database_dict = {}
database_dict["camera_name"] = self.data_source.get_camera_name()
database_dict["training_folder"] = training_folder
database_dict["evaluation_folder"] = evaluation_folder
database_dict["training_samples"] = []
database_dict["evaluation_samples"] = []

for index, image in enumerate(self.data_collector.get_training_images()):
cv2.imwrite(os.path.join(training_folder, f"{index:04d}.jpg"), image) # noqa E231
img_name = f"{index:04d}.jpg"
cv2.imwrite(os.path.join(training_folder, img_name), image) # noqa E231
np.savetxt(
os.path.join(training_folder, f"{index:04d}_training_img_points.txt"),
self.data_collector.get_training_detection(index).get_flattened_image_points(),
Expand All @@ -958,8 +966,19 @@ def on_save_clicked(self):
self.data_collector.get_training_detection(index).get_flattened_object_points(),
)

sample = {}
sample["image_name"] = img_name
sample["img_points"] = self.data_collector.get_training_detection(
index
).get_flattened_image_points()
sample["obj_points"] = self.data_collector.get_training_detection(
index
).get_flattened_object_points()
database_dict["training_samples"].append(sample)

for index, image in enumerate(self.data_collector.get_evaluation_images()):
cv2.imwrite(os.path.join(evaluation_folder, f"{index:04d}.jpg"), image) # noqa E231
img_name = f"{index:04d}.jpg"
cv2.imwrite(os.path.join(evaluation_folder, img_name), image) # noqa E231
np.savetxt(
os.path.join(evaluation_folder, f"{index:04d}_eval_img_points.txt"),
self.data_collector.get_evaluation_detection(index).get_flattened_image_points(),
Expand All @@ -969,6 +988,25 @@ def on_save_clicked(self):
self.data_collector.get_evaluation_detection(index).get_flattened_object_points(),
)

sample = {}
sample["image_name"] = img_name
sample["img_points"] = self.data_collector.get_evaluation_detection(
index
).get_flattened_image_points()
sample["obj_points"] = self.data_collector.get_evaluation_detection(
index
).get_flattened_object_points()
database_dict["evaluation_samples"].append(sample)

try:
import pickle

with open(os.path.join(output_folder, "database.pkl"), "wb") as f:
pickle.dump(database_dict, f)

except Exception:
logging.warning("Pickle not available, skipping pickle output")

def process_detection_results(self, img: np.array, detection: BoardDetection, img_stamp: float):
"""Process the results from an object detection."""
# Signal that the detector is free
Expand Down