Initial commit: Speckle-Scanner 3D pipeline with setup README

2026-06-10 03:09:05 +05:00
commit 1765934846
375 changed files with 123081 additions and 0 deletions
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+#!/usr/bin/env python3
+"""
+Step 2 — Calibration from per-image JSON feature files.
+
+  2a. Mono intrinsics per camera folder
+  2b. Stereo calibration: left camera vs each available partner (rc, rg, ir)
+      with time-window pairing (default 0.1 s)
+"""
+
+import sys
+from pathlib import Path
+
+sys.path.insert(0, str(Path.home() / "Speckle-Scanner"))
+sys.path.insert(0, str(Path(__file__).resolve().parent))
+
+import argparse
+
+from calibrationclasses.calibration_engine import (
+    run_mono_calibration,
+    run_stereo_calibration,
+)
+from calibrationclasses.cli_common import (
+    add_board_args,
+    add_session_args,
+    add_troubleshooting_arg,
+    build_board_config,
+    resolve_input_path,
+)
+from calibrationclasses.session import STEREO_PARTNERS
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description="Calibration step 2: mono + stereo calibration from JSON"
+    )
+    add_session_args(parser)
+    add_board_args(parser)
+    parser.add_argument(
+        "--step",
+        choices=("mono", "stereo", "all"),
+        default="all",
+        help="Run mono intrinsics, stereo pairs, or both (default: all)",
+    )
+    parser.add_argument(
+        "--left_camera",
+        default="lc",
+        choices=("lc", "lc-ir", "lc_ir"),
+        help="Left camera for stereo calibration (default: lc)",
+    )
+    parser.add_argument(
+        "--time_window",
+        type=float,
+        default=0.1,
+        help="Max |t_left - t_right| in seconds for stereo pairing (default: 0.1)",
+    )
+    parser.add_argument(
+        "--partners",
+        type=str,
+        default="rc,rg,ir",
+        help="Comma-separated right cameras for stereo (default: rc,rg,ir)",
+    )
+    add_troubleshooting_arg(parser)
+    args = parser.parse_args()
+
+    left_camera = args.left_camera.lower().replace("_", "-")
+    partners = tuple(p.strip() for p in args.partners.split(",") if p.strip())
+    board_sizes, square_sizes = build_board_config(args)
+    input_path = resolve_input_path(args)
+
+    print(f"[calibrate] session: {input_path}")
+
+    mono_results = {}
+    if args.step in ("mono", "all"):
+        print("\n=== Step 2a: Mono intrinsics ===")
+        mono_results = run_mono_calibration(
+            input_path,
+            board_sizes,
+            square_sizes,
+            troubleshooting=args.troubleshooting,
+        )
+
+    if args.step in ("stereo", "all"):
+        print("\n=== Step 2b: Stereo calibration ===")
+        if not mono_results and args.step == "stereo":
+            mono_results = run_mono_calibration(
+                input_path,
+                board_sizes,
+                square_sizes,
+                troubleshooting=args.troubleshooting,
+            )
+        run_stereo_calibration(
+            input_path,
+            left_camera=left_camera,
+            mono_results=mono_results,
+            board_sizes=board_sizes,
+            square_sizes=square_sizes,
+            time_window_sec=args.time_window,
+            partners=partners or STEREO_PARTNERS,
+            troubleshooting=args.troubleshooting,
+        )
+
+    print("[calibrate] done")
+
+
+if __name__ == "__main__":
+    main()