calibration: caller provides threshold

ar_tag_pose/calibration.py

@@ -42,13 +42,15 @@ class Calibration:
 		calib = {'mtx': mtx.tolist(), 'dist': dist.tolist()}
 		print(f"Saved {filename} successfully!")
 
-	def process(self, image: np.ndarray, r_vecs=None, t_vecs=None, flags=0):
+	def process(self, image: np.ndarray, thresh=3.0, r_vecs=None, t_vecs=None, flags=0):
 		success = False
-		if len(self.obj_points_list) > 0 and len(self.img_points_list) > 0:
+		no = len(self.obj_points_list)
+		ni = len(self.img_points_list)
+		if no == ni and no > 0:
 			ret, mtx, dist, r_vecs, t_vecs = cv.calibrateCamera(self.obj_points_list, self.img_points_list, image.shape, self.mtx, self.dist,
 															  rvecs=r_vecs, tvecs=t_vecs, flags=flags)
 
-			if ret < 3:
+			if ret < thresh:
 				success = True
 				self.mtx = mtx
 				self.dist = dist

ar_tag_pose/detector_board_main.py

@@ -185,7 +185,7 @@ class Detector(abc.ABC):
 						print(f"{det}: Points matching success")
 			elif k == ord('c'):
 				gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
-				if self.calibration.process(gray):
+				if self.calibration.process(gray, thresh=3*len(self.detector)):
 					print(f"{self.camera_name}: Camera calibration success")
 					self.calibration.save(f"{RESULTS_FOLDER}/{self.camera_name}_cal.npz")
 			elif k == ord('x'):