potok/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2026-07-21 19:33:03 +04:00
Code Packages Releases Wiki Activity

Reworks pre-computed intrinsiscs support in multi-view calibration script.

Browse Source
This commit is contained in:
Alexander Smorkalov
2025-07-24 16:31:05 +03:00
parent bd67770dcb
commit d977b02297
1 changed files with 12 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
samples/python/multiview_calibration.py
+12 -8
View File
@@ -775,7 +775,7 @@ 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,
is_parallel_detection=True, cam_ids=None, intrinsics_dir='', board_dict_path=None):
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)
grid_size: [width, height] -- size of grid pattern
@@ -894,15 +894,19 @@ def calibrateFromImages(files_with_images, grid_size, pattern_type, models,
Ks = None
distortions = None
if intrinsics_dir:
if files_with_intrinsics:
# Read camera instrinsic matrices (Ks) and dictortions
Ks, distortions = [], []
for cam_id in cam_ids:
input_file = os.path.join(intrinsics_dir, f"cameraParameters_{cam_id}.xml")
print("Reading intrinsics from", input_file)
storage = cv.FileStorage(input_file, cv.FileStorage_READ)
for cam_idx, filename in enumerate(files_with_intrinsics):
print("Reading intrinsics from", filename)
storage = cv.FileStorage(filename, cv.FileStorage_READ)
# tries to read output of interactive-calibration tool (yaml) and camera calibration tutorial (xml)
camera_matrix = storage.getNode('cameraMatrix').mat()
if camera_matrix is None:
camera_matrix = storage.getNode('camera_matrix').mat()
dist_coeffs = storage.getNode('dist_coeffs').mat()
if dist_coeffs is None:
dist_coeffs = storage.getNode('distortion_coefficients').mat()
Ks.append(camera_matrix)
distortions.append(dist_coeffs)
find_intrinsics_in_python = True
@@ -959,7 +963,7 @@ if __name__ == '__main__':
parser.add_argument('--path_to_visualize', type=str, default='', help='path to results pickle file needed to run visualization')
parser.add_argument('--visualize', required=False, action='store_true', help='visualization flag. If set, only runs visualization but path_to_visualize must be provided')
parser.add_argument('--resize_image_detection', required=False, action='store_true', help='If set, an image will be resized to speed-up corners detection')
parser.add_argument('--intrinsics_dir', type=str, default='', help='Path to measured intrinsics')
parser.add_argument('--intrinsics', type=str, default='', help='YAML or XML files with each camera intrinsics')
parser.add_argument('--gt_file', type=str, default=None, help="ground truth")
parser.add_argument('--board_dict_path', type=str, default=None, help="path to parameters of board dictionary")
@@ -1002,7 +1006,7 @@ if __name__ == '__main__':
RESIZE_IMAGE=params.resize_image_detection,
find_intrinsics_in_python=params.find_intrinsics_in_python,
cam_ids=cam_ids,
intrinsics_dir=params.intrinsics_dir,
files_with_intrinsics=[x.strip() for x in params.intrinsics.split(',')],
board_dict_path=params.board_dict_path,
)
output['cam_ids'] = cam_ids