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