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Merge pull request #27792 from asmorkalov:as/multiview_stereo_init

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Added option to initialize pairs with stereo and fixed related bugs.
This commit is contained in:
Alexander Smorkalov
2025-09-19 12:22:37 +03:00
committed by GitHub
parent b6eff512c8 96c2365d5f
commit 07b7dd02cd
2 changed files with 28 additions and 9 deletions
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samples/python/multiview_calibration.py
+20 -5
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@@ -368,6 +368,7 @@ def calibrateFromPoints(
models,
image_names=None,
find_intrinsics_in_python=False,
use_stereo_init=False,
Ks=None,
distortions=None
):
@@ -387,9 +388,9 @@ def calibrateFromPoints(
pinhole_flag = cv.CALIB_RATIONAL_MODEL
fisheye_flag = cv.CALIB_RECOMPUTE_EXTRINSIC+cv.CALIB_FIX_SKEW
if Ks is not None and distortions is not None:
USE_INTRINSICS_GUESS = True
useIntrinsics = True
else:
USE_INTRINSICS_GUESS = find_intrinsics_in_python
useIntrinsics = find_intrinsics_in_python
if find_intrinsics_in_python:
Ks, distortions = [], []
for c in range(num_cameras):
@@ -438,7 +439,8 @@ def calibrateFromPoints(
Ks=Ks,
distortions=distortions,
flagsForIntrinsics=np.array([pinhole_flag if models[x] == cv.CALIB_MODEL_PINHOLE else fisheye_flag for x in range(num_cameras)], dtype=int),
flags = cv.CALIB_USE_INTRINSIC_GUESS if USE_INTRINSICS_GUESS else 0
flags = (cv.CALIB_USE_INTRINSIC_GUESS if useIntrinsics else 0) +
(cv.CALIB_STEREO_REGISTRATION if use_stereo_init else 0)
)
# [multiview_calib]
# except Exception as e:
@@ -795,7 +797,7 @@ def detect(cam_idx, frame_idx, img_name, pattern_type,
def calibrateFromImages(files_with_images, grid_size, pattern_type, models,
dist_m, winsize, points_json_file, debug_corners,
RESIZE_IMAGE, find_intrinsics_in_python,
RESIZE_IMAGE, find_intrinsics_in_python, use_stereo_init,
is_parallel_detection=True, cam_ids=None, files_with_intrinsics=[], board_dict_path=None):
"""
files_with_images: NUM_CAMERAS - path to file containing image names (NUM_FRAMES)
@@ -957,6 +959,7 @@ def calibrateFromImages(files_with_images, grid_size, pattern_type, models,
models,
all_images_names,
find_intrinsics_in_python,
use_stereo_init,
Ks=Ks,
distortions=distortions,
)
@@ -994,7 +997,8 @@ if __name__ == '__main__':
parser.add_argument('--pattern_type', type=str, default=None, help='supported: checkerboard, circles, acircles, charuco')
parser.add_argument('--is_fisheye', type=str, default=None, help='is_ mask, e.g., 0,1,...')
parser.add_argument('--pattern_distance', type=float, default=None, help='distance between object / pattern points')
parser.add_argument('--find_intrinsics_in_python', required=False, action='store_true', help='calibrate intrinsics in Python sample instead of C++')
parser.add_argument('--find_intrinsics_in_python', required=False, action='store_true', help='calibrate intrinsics in Python sample instead of built-in version')
parser.add_argument('--use_stereo_init', required=False, action='store_true', help='use calibrateStereo instead of registerCameras for initial pairs registration')
parser.add_argument('--winsize', type=str, default='5,5', help='window size for corners detection: w,h')
parser.add_argument('--debug_corners', required=False, action='store_true', help='debug flag for corners detection visualization of images')
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.')
@@ -1021,6 +1025,16 @@ if __name__ == '__main__':
params.is_fisheye = ','.join('0' * len(cam_files))
print('Fisheye parameters:', params.is_fisheye) # TODO: Calculate it automatically
if params.use_stereo_init:
models=[int(v) for v in params.is_fisheye.split(',')]
not_the_same = False
for i in range (1, len(models)):
if models[i-1] != models[i]:
not_the_same = True
if not_the_same:
print("--use_stereo_init option is applicable only if all cameras are calibrated with the same model!")
sys.exit(0)
if params.json_file is not None:
output = calibrateFromJSON(params.json_file, params.find_intrinsics_in_python)
cam_ids = [str(x) for x in range(len(output['Rs']))]
@@ -1044,6 +1058,7 @@ if __name__ == '__main__':
debug_corners=params.debug_corners,
RESIZE_IMAGE=params.resize_image_detection,
find_intrinsics_in_python=params.find_intrinsics_in_python,
use_stereo_init=params.use_stereo_init,
cam_ids=cam_ids,
files_with_intrinsics=[x.strip() for x in (params.intrinsics or "").split(',') if x.strip()],
board_dict_path=params.board_dict_path,