Calib update

calibrate.py

@@ -115,8 +115,6 @@ def parse_args():
                         help="number of chessboard squares in Y direction in charuco boards.")
     parser.add_argument("-rd", "--rectifiedDisp", default=True, action="store_false",
                         help="Display rectified images with lines drawn for epipolar check")
-    parser.add_argument("-drgb", "--disableRgb", default=False, action="store_true",
-                        help="Disable rgb camera Calibration")
     parser.add_argument("-slr", "--swapLR", default=False, action="store_true",
                         help="Interchange Left and right camera port.")
     parser.add_argument("-m", "--mode", default=['capture', 'process'], nargs='*', type=str, required=False,
@@ -129,7 +127,7 @@ def parse_args():
     parser.add_argument("-ih", "--invertHorizontal", dest="invert_h", default=False, action="store_true",
                         help="Invert horizontal axis of the camera for the display")
     parser.add_argument("-ep", "--maxEpiploarError", default="0.7", type=float, required=False,
-                         help="Sets the maximum epiploar allowed with rectification")
+                         help="Sets the maximum epiploar allowed with rectification. Default: %(default)s")
     parser.add_argument("-cm", "--cameraMode", default="perspective", type=str,
                         required=False, help="Choose between perspective and Fisheye")
     parser.add_argument("-rlp", "--rgbLensPosition", default=135, type=int,
@@ -160,7 +158,8 @@ def parse_args():
                         help="Set to trace the steps in calibration. Number from 1 to 5. If you want to display all, set trace number to 10.")
     parser.add_argument('-edms', '--enableDebugMessageSync', default=False, action="store_true",
                         help="Display all the information in calibration.")
-
+    parser.add_argument('-mst', '--minSyncTimestamp',  type=float, default=0.03,
+                        help="Minimum time difference between pictures taken from different cameras.  Default: %(default)s ")
     options = parser.parse_args()
 
     # Set some extra defaults, `-brd` would override them
@@ -616,7 +615,7 @@ def capture_images_sync(self):
         prev_time = None
         curr_time = None
         self.display_name = "Image Window"
-        syncCollector = MessageSync(len(self.camera_queue), 0.3 ) # 3ms tolerance
+        syncCollector = MessageSync(len(self.camera_queue), self.args.minSyncTimestamp) # 3ms tolerance
         syncCollector.enableDebugMessageSync = self.args.enableDebugMessageSync
         self.mouseTrigger = False
         while not finished:
@@ -903,7 +902,7 @@ def calibrate(self):
                         right_cam = result_config['cameras'][cam_info['extrinsics']['to_cam']]['name']
                         left_cam = cam_info['name']
 
-                        epipolar_threshold = 0.6
+                        epipolar_threshold = self.args.maxEpiploarError
 
                         if cam_info['extrinsics']['epipolar_error'] > epipolar_threshold:
                             color = red