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Added info logs with intermediate values to multiview calibration and related script option.

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This commit is contained in:
Alexander Smorkalov
2025-09-17 15:05:07 +03:00
parent 07b7dd02cd
commit 6a9aa0aba2
2 changed files with 26 additions and 5 deletions
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modules/calib/src/multiview_calibration.cpp
+10 -5
View File
@@ -305,12 +305,12 @@ static void pairwiseRegistration (const std::vector<std::pair<int,int>> &pairs,
}
extrinsic_flags |= CALIB_FIX_INTRINSIC;
registerCameras(grid_points1, grid_points2, image_points1, image_points2,
double err = registerCameras(grid_points1, grid_points2, image_points1, image_points2,
Ks[c1], distortions[c1], cv::CameraModel(models.at<uchar>(c1)),
Ks[c2], distortions[c2], cv::CameraModel(models.at<uchar>(c2)),
R, T, noArray(), noArray(), noArray(), noArray(), noArray(),
extrinsic_flags, criteria);
CV_LOG_INFO(NULL, "Pair " << c1 << "-" << c2 << " registration RMS " << err);
// R_0 = I
// R_ij = R_i R_j^T => R_i = R_ij R_j
// t_ij = ti - R_ij tj => t_i = t_ij + R_ij t_j
@@ -377,11 +377,12 @@ static void pairwiseStereoCalibration (const std::vector<std::pair<int,int>> &pa
// image size does not matter since intrinsics are used
if (are_fisheye_cams) {
extrinsic_flags |= CALIB_FIX_INTRINSIC;
fisheye::stereoCalibrate(grid_points, image_points1, image_points2,
double err = fisheye::stereoCalibrate(grid_points, image_points1, image_points2,
Ks[c1], dist1,
Ks[c2], dist2,
Size(), R, T,
extrinsic_flags, criteria);
CV_LOG_INFO(NULL, "Stereo pair " << c1 << "-" << c2 << " registration RMS " << err);
} else {
extrinsic_flags |= CALIB_FIX_INTRINSIC;
if ((intrinsic_flags.at<int>(c1) & CALIB_RATIONAL_MODEL) || (intrinsic_flags.at<int>(c2) & CALIB_RATIONAL_MODEL))
@@ -389,11 +390,12 @@ static void pairwiseStereoCalibration (const std::vector<std::pair<int,int>> &pa
if ((intrinsic_flags.at<int>(c1) & CALIB_THIN_PRISM_MODEL) || (intrinsic_flags.at<int>(c2) & CALIB_THIN_PRISM_MODEL))
extrinsic_flags |= CALIB_THIN_PRISM_MODEL;
stereoCalibrate(grid_points, image_points1, image_points2,
double err = stereoCalibrate(grid_points, image_points1, image_points2,
Ks[c1], dist1,
Ks[c2], dist2,
Size(), R, T, noArray(), noArray(), noArray(),
extrinsic_flags, criteria);
CV_LOG_INFO(NULL, "Stereo pair " << c1 << "-" << c2 << " registration RMS " << err);
}
// R_0 = I
@@ -535,7 +537,8 @@ static void optimizeLM (std::vector<double> &param, const RobustFunction &robust
.setStepNormTolerance(termCrit.epsilon)
.setSmallEnergyTolerance(termCrit.epsilon * termCrit.epsilon),
noArray()/*mask, all variables to optimize*/);
solver.optimize();
cv::LevMarq::Report status = solver.optimize();
CV_LOG_INFO(NULL, "LevMarq finished with status " << status.found << " energy " << status.energy << " after " << status.iters << " iterations");
}
static void checkConnected (const std::vector<std::vector<bool>> &detection_mask_mat) {
@@ -719,6 +722,7 @@ double calibrateMultiview(
if (models_mat.at<uchar>(camera) == cv::CALIB_MODEL_FISHEYE) {
repr_err = fisheye::calibrate(obj_points_, img_points_, imageSize[camera],
K, dist, rvecs, tvecs, flagsForIntrinsics_mat.at<int>(camera));
CV_LOG_INFO(NULL, "Camera " << camera << " intrinsics calibration RMS " << repr_err);
// calibrate does not compute error per view, so compute it manually
errors_per_view = std::vector<double>(obj_points_.size());
for (int f = 0; f < (int) obj_points_.size(); f++) {
@@ -729,6 +733,7 @@ double calibrateMultiview(
} else {
repr_err = calibrateCamera(obj_points_, img_points_, imageSize[camera], K, dist,
rvecs, tvecs, noArray(), noArray(), errors_per_view, flagsForIntrinsics_mat.at<int>(camera));
CV_LOG_INFO(NULL, "Camera " << camera << " intrinsics calibration RMS " << repr_err);
}
CV_LOG_IF_WARNING(NULL, repr_err > WARNING_RMSE, "Warning! Mean RMSE of intrinsics calibration is higher than "+std::to_string(WARNING_RMSE)+" pixels!");
int cnt_visible_frame = 0;
samples/python/multiview_calibration.py
+16
View File
@@ -991,6 +991,7 @@ def calibrateFromJSON(json_file, find_intrinsics_in_python):
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('--log_level', type=str, choices=('', 'verbose', 'debug', 'info', 'warning', 'error', 'fatal', 'silent'), help='OpenCV log level to print more calibration process details')
parser.add_argument('--json_file', type=str, default=None, help="json file with all data. Must have keys: 'object_points', 'image_points', 'image_sizes', 'is_fisheye'")
parser.add_argument('--filenames', type=str, default=None, help='Txt files containing image lists, e.g., cam_1.txt,cam_2.txt,...,cam_N.txt for N cameras')
parser.add_argument('--pattern_size', type=str, default=None, help='pattern size: width,height')
@@ -1013,6 +1014,21 @@ if __name__ == '__main__':
params, _ = parser.parse_known_args()
print("params.board_dict_path:", params.board_dict_path)
if params.log_level == "verbose":
cv.setLogLevel(6)
elif params.log_level == "debug":
cv.setLogLevel(5)
elif params.log_level == "info":
cv.setLogLevel(4)
elif params.log_level == "warning":
cv.setLogLevel(3)
elif params.log_level == "error":
cv.setLogLevel(2)
elif params.log_level == "fatal":
cv.setLogLevel(1)
elif params.log_level == "silent":
cv.setLogLevel(0)
if params.visualize:
assert os.path.exists(params.path_to_visualize), f'Path to result file does not exist: {params.path_to_visualize}'
visualizeFromFile(params.path_to_visualize)