Issue #75: Update ChArUco+Chessboard pattern to match SmartLiver conf…

…ig files.
SciKit-Surgery · May 5, 2020 · 769f4f5 · 769f4f5
1 parent 2e67e46
commit 769f4f5
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Showing 5 changed files with 12 additions and 14 deletions.
diff --git a/sksurgeryimage/calibration/charuco.py b/sksurgeryimage/calibration/charuco.py
@@ -204,7 +204,7 @@ def make_charuco_with_chessboard(
         charuco_squares=(19, 26),
         charuco_size=(5, 4),
         pixels_per_millimetre=10,
-        chessboard_squares=(13, 18),
+        chessboard_squares=(9, 14),
         chessboard_size=3,
         chessboard_border=0.7
         ):

diff --git a/sksurgeryimage/calibration/charuco_plus_chessboard_point_detector.py b/sksurgeryimage/calibration/charuco_plus_chessboard_point_detector.py
@@ -20,16 +20,16 @@ class CharucoPlusChessboardPointDetector(PointDetector):
     in a 2D grey scale video image.
     """
     def __init__(self,
-                 number_of_charuco_squares,
-                 size_of_charuco_squares,
-                 minimum_number_of_points,
+                 number_of_charuco_squares=(19, 26),
+                 size_of_charuco_squares=(5, 4),
+                 minimum_number_of_points=50,
                  scale=(1, 1),
                  dictionary=cv2.aruco.getPredefinedDictionary(
                      cv2.aruco.DICT_4X4_250),
                  charuco_filtering=False,
                  use_chessboard_inset=False,
-                 number_of_chessboard_squares=None,
-                 chessboard_square_size=1,
+                 number_of_chessboard_squares=(9, 14),
+                 chessboard_square_size=3,
                  chessboard_id_offset=500
                  ):
         """

diff --git a/tests/calibration/test_charuco_plus_chessboard_point_detector.py b/tests/calibration/test_charuco_plus_chessboard_point_detector.py
@@ -13,15 +13,13 @@
 
 def test_charuco_plus_chess_detector():
 
+    file_name = 'tests/data/calibration/pattern_4x4_19x26_5_4_with_inset_13x18.png'
+
+    # Note: image generated with
     calib_image = ch.make_charuco_with_chessboard()
-    cv2.imwrite('tests/data/calibration/pattern_4x4_19x26_5_4_with_inset_13x18.png', calib_image)
-    return
-    file_name = 'tests/data/calibration/pattern_4x4_26x19_5_4_with_inset_18x13.png'
+    cv2.imwrite(file_name, calib_image)
+
     image = cv2.imread(file_name)
-    detector = CharucoPlusChessboardPointDetector((19, 26), (5, 4), 25, (1, 1),
-                                                  use_chessboard_inset=False,
-                                                  number_of_chessboard_squares=(18, 13),
-                                                  chessboard_square_size=3
-                                                  )
+    detector = CharucoPlusChessboardPointDetector()
     ids, object_points, image_points = detector.get_points(image)
     pdu.write_annotated_image(image, ids, image_points, file_name)
diff --git a/tests/data/calibration/pattern_4x4_19x26_5_4_with_inset_13x18.png b/tests/data/calibration/pattern_4x4_19x26_5_4_with_inset_13x18.png
diff --git a/tests/data/calibration/pattern_4x4_19x26_5_4_with_inset_9x14.png b/tests/data/calibration/pattern_4x4_19x26_5_4_with_inset_9x14.png