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Small Calibration Fixes #136

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merged 2 commits into from
Sep 3, 2024
Merged

Small Calibration Fixes #136

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f6b6f6c
Small Calibration Fixes
glvov-bdai Sep 3, 2024
3078f78
fix radians option
glvov-bdai Sep 3, 2024
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3 changes: 1 addition & 2 deletions spot_wrapper/calibration/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -145,8 +145,7 @@ even on more inexpensive hardware, and as such uses a minimal amount of viewpoin
If you have the [Spot ROS 2 Driver](https://github.com/bdaiinstitute/spot_ros2) installed,
you can leverage the output of the automatic calibration to publish a depth image registered
to the RGB image frame. For more info, see the ```Optional Automatic Eye-in-Hand Stereo Calibration Routine for Manipulator (Arm) Payload```
section in the [spot_ros2 main README](https://github.com/bdaiinstitute/spot_ros2/blob/main/README.md)

section in the [spot_ros2 main README](https://github.com/bdaiinstitute/spot_ros2?tab=readme-ov-file#optional-automatic-eye-in-hand-stereo-calibration-routine-for-manipulator-arm-payload)
# Using the CLI Tool To Calibrate On an Existing Dataset
To use the CLI Tool, please ensure that you have one parent folder,
where each camera has a folder under the parent (Numbered from 0 to N). Synchronized photos
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18 changes: 13 additions & 5 deletions spot_wrapper/calibration/calibrate_spot_hand_camera_cli.py
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Expand Up @@ -127,12 +127,21 @@ def spot_cli(parser=argparse.ArgumentParser) -> argparse.ArgumentParser:
"These are used to sample viewpoints for automatic collection. "
),
)
parser.add_argument(
group = parser.add_mutually_exclusive_group()
group.add_argument(
"--degrees",
"-d",
dest="use_degrees",
action="store_true",
default=True,
type=bool,
help="Whether to use degrees for rot ranges",
help="Use degrees for rotation ranges (default)",
)
group.add_argument(
"--radians",
"-r",
dest="use_degrees",
action="store_false",
help="Use radians for rotation ranges",
)
for axis in ["x", "y", "z"]:
parser.add_argument(
Expand Down Expand Up @@ -189,8 +198,7 @@ def spot_cli(parser=argparse.ArgumentParser) -> argparse.ArgumentParser:
"--save_data",
"-sd",
dest="save_data",
type=bool,
default=True,
action="store_true",
help="whether to save the images to file",
)

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