Minor cleanup of the printing, template file fixes, and one edge case…

… detection bug.

examples/calibration_registration/PlaneFiles/plane.json

@@ -9,7 +9,12 @@
     "square_length": 40,
     "marker_length": 30,
     "margin_size": 20,
-    "aruco_dict_name": 6
+    "aruco_dict_name": 6,
+    "width": 600,
+    "height": 400,
+    "x": -20,
+    "y": -20,
+    "dpi_factor": 5
 }
 ]
 }

examples/calibration_registration/PlaneFiles/plane_large.json

@@ -4,11 +4,11 @@
 "shapes": [
 {
 "shape": "charuco",
-"squaresX": 14,
-"squaresY": 9,
-"squareLength_mm": 80,
-"markerLength_mm": 60,
-"marginSize_mm": 40,
+"squares_x": 14,
+"squares_y": 9,
+"square_length": 80,
+"marker_length": 60,
+"margin_size": 40,
 "width": 1200,
 "height": 800,
 "x": -40,

examples/calibration_registration/PlaneFiles/plane_small.json

@@ -4,11 +4,11 @@
 "shapes": [
 {
 "shape": "charuco",
-"squaresX": 10,
-"squaresY": 7,
-"squareLength_mm": 25,
-"markerLength_mm": 19,
-"marginSize_mm": 12,
+"squares_x": 10,
+"squares_y": 7,
+"square_length": 25,
+"marker_length": 19,
+"margin_size": 12,
 "width": 274,
 "height": 199,
 "x": -12,

examples/calibration_registration/README.md

@@ -1,7 +1,7 @@
 # Camera Calibration and Registration ReadMe
 
 Here we supply examples for the user to run camera calibration on a single camera, and registration
-to identify spacial relationships between different cameras.
+to identify spatial relationships between different cameras.
 
 ## Installation
 
@@ -43,7 +43,7 @@ These scripts enable developers to do two things: Calibrate a given camera, and
 
 2. How to calibrate a camera.
    1. Calibration typically requires about 30 images and relies on the Brown Conrady distortion model.
-   2. The script `calibrate.py` is designed to take in command line arguments so it can be used personally collected data without modification. If you want to work with the provided example, simply run: python `calibrate.py.` For further details please see [Camera Calibration](https://docs.opencv.org/master/dc/dbb/tutorial_py_calibration.html) in the OpenCV documentation.
+   2. The script `calibrate.py` is designed to take in command line arguments so it can be used personally collected data without modification. For further details please see [Camera Calibration](https://docs.opencv.org/master/dc/dbb/tutorial_py_calibration.html) in the OpenCV documentation.
    3. If you already have a collected set of data, run the calibration code this way:
 
       ``` windows
@@ -61,13 +61,12 @@ The script `register.py`, like `calibrate.py` is designed to take in command lin
         * Example: RGB and IR images taken simultaneously.
         * ![Color Image](example_files/registration/color-0.jpg "Color Image")
         * ![IR Image](example_files\registration/ir-0.png "IR Image")
-   3. To run the onboard example, run: `full_path\register.py`
-   4. If you already have a collected set of data, run the calibration code this way:
+   3. If you already have a collected set of data, run the calibration code this way:
 
         ``` windows
         python <full_path>\register.py --img-a <full_path_img_a> --img-b <full_path_img_b> `
         --template <full_path_tempate> --calib-a <full_path_calibration_a> `
         --calib-b <full_path_calibration_b> --out-dir <full_path_calibration_b>
         ```
 
-   5. If successful, the code will print out the rotation and translation matrix from camera B to camera A and save the calibration blob as a json.
+   4. If successful, the code will print out the rotation and translation matrix from camera B to camera A and save the calibration blob as a json.

examples/calibration_registration/calibrate.py

@@ -38,5 +38,5 @@ def parse_args():
                      args.template,
                      init_calfile=args.calib_file)
   print(f"RMS: the overall RMS re-projection error in pixels: {rms}")
-  print(f"opencv cal calibration matrix: {calib_matrix}")
-  print(f"opencv cal distortion coeffs: {dist_coeffs}")
+  print(f"\nopencv cal calibration matrix:\n{calib_matrix}")
+  print(f"\nopencv cal distortion coeffs:\n{dist_coeffs}")

examples/calibration_registration/camera_tools.py

@@ -262,7 +262,11 @@ def detect_markers(img: np.ndarray,
                                       aruco_ids,
                                       img,
                                       board)
-  if charuco_corners is None:
+    if charuco_corners is None:
+      charuco_corners = []
+      charuco_ids = []
+      warnings.warn("No charuco corners detected in image.")
+  else:
     charuco_corners = []
     charuco_ids = []
     warnings.warn("No charuco corners detected in image.")