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Merge pull request #27792 from asmorkalov:as/multiview_stereo_init
Added option to initialize pairs with stereo and fixed related bugs.
This commit is contained in:
Alexander Smorkalov
GitHub
@@ -370,12 +370,16 @@ static void pairwiseStereoCalibration (const std::vector<std::pair<int,int>> &pa
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T = -R * Ts_prior[c1] + Ts_prior[c2];
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}
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// stereoCalibrate tries to overwrite distortion coefficients
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Mat dist1 = distortions[c1].clone();
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Mat dist2 = distortions[c2].clone();
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// image size does not matter since intrinsics are used
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if (are_fisheye_cams) {
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extrinsic_flags |= CALIB_FIX_INTRINSIC;
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fisheye::stereoCalibrate(grid_points, image_points1, image_points2,
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Ks[c1], distortions[c1],
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Ks[c2], distortions[c2],
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Ks[c1], dist1,
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Ks[c2], dist2,
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Size(), R, T,
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extrinsic_flags, criteria);
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} else {
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@@ -386,8 +390,8 @@ static void pairwiseStereoCalibration (const std::vector<std::pair<int,int>> &pa
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extrinsic_flags |= CALIB_THIN_PRISM_MODEL;
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stereoCalibrate(grid_points, image_points1, image_points2,
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Ks[c1], distortions[c1],
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Ks[c2], distortions[c2],
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Ks[c1], dist1,
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Ks[c2], dist2,
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Size(), R, T, noArray(), noArray(), noArray(),
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extrinsic_flags, criteria);
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}
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@@ -368,6 +368,7 @@ def calibrateFromPoints(
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models,
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image_names=None,
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find_intrinsics_in_python=False,
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use_stereo_init=False,
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Ks=None,
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distortions=None
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):
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@@ -387,9 +388,9 @@ def calibrateFromPoints(
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pinhole_flag = cv.CALIB_RATIONAL_MODEL
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fisheye_flag = cv.CALIB_RECOMPUTE_EXTRINSIC+cv.CALIB_FIX_SKEW
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if Ks is not None and distortions is not None:
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USE_INTRINSICS_GUESS = True
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useIntrinsics = True
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else:
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USE_INTRINSICS_GUESS = find_intrinsics_in_python
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useIntrinsics = find_intrinsics_in_python
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if find_intrinsics_in_python:
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Ks, distortions = [], []
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for c in range(num_cameras):
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@@ -438,7 +439,8 @@ def calibrateFromPoints(
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Ks=Ks,
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distortions=distortions,
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flagsForIntrinsics=np.array([pinhole_flag if models[x] == cv.CALIB_MODEL_PINHOLE else fisheye_flag for x in range(num_cameras)], dtype=int),
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flags = cv.CALIB_USE_INTRINSIC_GUESS if USE_INTRINSICS_GUESS else 0
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flags = (cv.CALIB_USE_INTRINSIC_GUESS if useIntrinsics else 0) +
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(cv.CALIB_STEREO_REGISTRATION if use_stereo_init else 0)
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)
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# [multiview_calib]
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# except Exception as e:
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@@ -795,7 +797,7 @@ def detect(cam_idx, frame_idx, img_name, pattern_type,
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def calibrateFromImages(files_with_images, grid_size, pattern_type, models,
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dist_m, winsize, points_json_file, debug_corners,
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RESIZE_IMAGE, find_intrinsics_in_python,
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RESIZE_IMAGE, find_intrinsics_in_python, use_stereo_init,
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is_parallel_detection=True, cam_ids=None, files_with_intrinsics=[], board_dict_path=None):
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"""
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files_with_images: NUM_CAMERAS - path to file containing image names (NUM_FRAMES)
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@@ -957,6 +959,7 @@ def calibrateFromImages(files_with_images, grid_size, pattern_type, models,
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models,
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all_images_names,
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find_intrinsics_in_python,
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use_stereo_init,
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Ks=Ks,
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distortions=distortions,
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)
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@@ -994,7 +997,8 @@ if __name__ == '__main__':
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parser.add_argument('--pattern_type', type=str, default=None, help='supported: checkerboard, circles, acircles, charuco')
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parser.add_argument('--is_fisheye', type=str, default=None, help='is_ mask, e.g., 0,1,...')
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parser.add_argument('--pattern_distance', type=float, default=None, help='distance between object / pattern points')
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parser.add_argument('--find_intrinsics_in_python', required=False, action='store_true', help='calibrate intrinsics in Python sample instead of C++')
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parser.add_argument('--find_intrinsics_in_python', required=False, action='store_true', help='calibrate intrinsics in Python sample instead of built-in version')
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parser.add_argument('--use_stereo_init', required=False, action='store_true', help='use calibrateStereo instead of registerCameras for initial pairs registration')
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parser.add_argument('--winsize', type=str, default='5,5', help='window size for corners detection: w,h')
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parser.add_argument('--debug_corners', required=False, action='store_true', help='debug flag for corners detection visualization of images')
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parser.add_argument('--points_json_file', type=str, default='', help='if path is provided then image and object points will be saved to JSON file.')
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@@ -1021,6 +1025,16 @@ if __name__ == '__main__':
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params.is_fisheye = ','.join('0' * len(cam_files))
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print('Fisheye parameters:', params.is_fisheye) # TODO: Calculate it automatically
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if params.use_stereo_init:
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models=[int(v) for v in params.is_fisheye.split(',')]
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not_the_same = False
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for i in range (1, len(models)):
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if models[i-1] != models[i]:
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not_the_same = True
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if not_the_same:
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print("--use_stereo_init option is applicable only if all cameras are calibrated with the same model!")
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sys.exit(0)
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if params.json_file is not None:
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output = calibrateFromJSON(params.json_file, params.find_intrinsics_in_python)
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cam_ids = [str(x) for x in range(len(output['Rs']))]
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@@ -1044,6 +1058,7 @@ if __name__ == '__main__':
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debug_corners=params.debug_corners,
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RESIZE_IMAGE=params.resize_image_detection,
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find_intrinsics_in_python=params.find_intrinsics_in_python,
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use_stereo_init=params.use_stereo_init,
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cam_ids=cam_ids,
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files_with_intrinsics=[x.strip() for x in (params.intrinsics or "").split(',') if x.strip()],
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board_dict_path=params.board_dict_path,
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