Probe detection is done on two screens, a pair that gives the lowest …

…reprojection error

parallax/calibration_camera.py

@@ -259,34 +259,18 @@ def __init__(
         self.retval, self.R_AB, self.T_AB, self.E_AB, self.F_AB = None, None, None, None, None 
         self.P_A, self.P_B = None, None
 
-    def calibrate_stereo(self):
-        """Calibrate stereo cameras.
-
-        Returns:
-            tuple: Stereo calibration results (retval, R_AB, T_AB, E_AB, F_AB).
-        """
-        self.retval, _, _, _, _, self.R_AB, self.T_AB, self.E_AB, self.F_AB = (
-            cv2.stereoCalibrate(
-                self.objpoints,
-                self.imgpointsA,
-                self.imgpointsB,
-                self.mtxA,
-                self.distA,
-                self.mtxB,
-                self.distB,
-                SIZE,
-                criteria=self.criteria,
-                flags=self.flags,
-            )
-        )
-
+    def print_calibrate_stereo_results(self):
+        if self.retval is None or self.R_AB is None or self.T_AB is None:
+            return
         print("\n== Stereo Calibration ==")
         print("AB")
         print(self.retval)
         print(f"R: \n{self.R_AB}")
         print(f"T: \n{self.T_AB}")
         print(np.linalg.norm(self.T_AB))
 
+        if self.F_AB is None or self.E_AB is None:
+            return
         formatted_F = (
             "F_AB:\n"
             + "\n".join(
@@ -300,6 +284,26 @@ def calibrate_stereo(self):
         print(formatted_F)
         print(formatted_E)
 
+    def calibrate_stereo(self):
+        """Calibrate stereo cameras.
+
+        Returns:
+            tuple: Stereo calibration results (retval, R_AB, T_AB, E_AB, F_AB).
+        """
+        self.retval, _, _, _, _, self.R_AB, self.T_AB, self.E_AB, self.F_AB = (
+            cv2.stereoCalibrate(
+                self.objpoints,
+                self.imgpointsA,
+                self.imgpointsB,
+                self.mtxA,
+                self.distA,
+                self.mtxB,
+                self.distB,
+                SIZE,
+                criteria=self.criteria,
+                flags=self.flags,
+            )
+        )
         self.P_A = self.mtxA @ np.hstack((np.eye(3), np.zeros((3, 1))))
         self.P_B = self.mtxB @ np.hstack((self.R_AB, self.T_AB.reshape(-1, 1)))
 
@@ -457,7 +461,7 @@ def test_x_y_z_performance(self, points_3d_G):
             f"x: {l2_x*1000}µm³, y: {l2_y*1000}µm³, z:{l2_z*1000}µm³"
         )
 
-    def test_performance(self, camA, coordA, camB, coordB):
+    def test_performance(self, camA, coordA, camB, coordB, print_results=False):
         """Test stereo calibration.
 
         Args:
@@ -482,19 +486,21 @@ def test_performance(self, camA, coordA, camB, coordB):
         points_3d_G = self.change_coords_system_from_camA_to_global_iterative(
             points_3d_AB
         )
-        print("\n=solvePnP SOLVEPNP_ITERATIVE=")
+
         differences = points_3d_G - self.objpoints[0]
         squared_distances = np.sum(np.square(differences), axis=1)
         euclidean_distances = np.sqrt(squared_distances)
         average_L2_distance = np.mean(euclidean_distances)
-        print(
-            f"(Reprojection error) Object points L2 diff: \
-            {average_L2_distance*1000} µm³"
-        )
-        self.test_x_y_z_performance(points_3d_G)
-        print(f"Object points predict:\n{np.around(points_3d_G, decimals=5)}")
+        if print_results:
+            print("\n=solvePnP SOLVEPNP_ITERATIVE=")
+            print(
+                f"(Reprojection error) Object points L2 diff: \
+                {average_L2_distance*1000} µm³"
+            )
+            self.test_x_y_z_performance(points_3d_G)
+            print(f"Object points predict:\n{np.around(points_3d_G, decimals=5)}")
 
-        self.test_pixel_error()
+            self.test_pixel_error()
         return average_L2_distance
 
     def test_pixel_error(self):

parallax/model.py

@@ -131,6 +131,12 @@ def add_probe_detector(self, probeDetector):
         """Add a probe detector."""
         self.probeDetectors.append(probeDetector)
 
+    def reset_coords_intrinsic_extrinsic(self):
+        """Reset coordinates intrinsic extrinsic."""
+        self.coords_axis = {}
+        self.camera_intrinsic = {}
+        self.camera_extrinsic = {}
+
     def add_coords_axis(self, camera_name, coords):
         """Add coordinates axis."""
         self.coords_axis[camera_name] = coords

parallax/screen_widget.py

@@ -312,6 +312,8 @@ def found_reticle_coords(self, x_coords, y_coords, mtx, dist):
     def reset_reticle_coords(self):
         """Reset reticle coordinates."""
         self.reticle_coords = None
+        self.mtx = None
+        self.dist = None
 
     def found_probe_coords(self, timestamp, probe_sn, stage_info, tip_coords):
         """Store the found probe coordinates and related information."""