[software] checkerboardCalibration: option to enable/disable rig cali…

…bration
alicevision · Sep 14, 2023 · 6598544 · 6598544
1 parent 8935e05
commit 6598544
Showing 1 changed file with 18 additions and 13 deletions.
diff --git a/src/software/pipeline/main_checkerboardCalibration.cpp b/src/software/pipeline/main_checkerboardCalibration.cpp
@@ -453,6 +453,7 @@ int aliceVision_main(int argc, char* argv[])
     std::string sfmOutputDataFilepath;
 
     double squareSize = 10.;
+    bool calibrateRigs = true;
 
     po::options_description requiredParams("Required parameters");
     requiredParams.add_options()
@@ -462,7 +463,8 @@ int aliceVision_main(int argc, char* argv[])
 
     po::options_description optionalParams("Optional parameters");
     optionalParams.add_options()
-        ("squareSize,s", po::value<double>(&squareSize)->default_value(squareSize), "Checkerboard square width in mm");
+        ("squareSize,s", po::value<double>(&squareSize)->default_value(squareSize), "Checkerboard square width in mm")
+        ("calibrateRigs", po::value<bool>(&calibrateRigs)->default_value(calibrateRigs), "Perform rig calibration");
 
     CmdLine cmdline("This program calibrates camera intrinsics and extrinsics.\n"
                     "AliceVision checkerboardCalibration");
@@ -509,9 +511,22 @@ int aliceVision_main(int argc, char* argv[])
     }
 
     // Calibrate rigs
-    if (!estimateRigs(sfmData))
+    if (calibrateRigs)
     {
-        return EXIT_FAILURE;
+        if (!estimateRigs(sfmData))
+        {
+            return EXIT_FAILURE;
+        }
+
+        // Mark all rig sub-poses as constant
+        for (auto& pr : sfmData.getRigs())
+        {
+            sfmData::Rig& rig = pr.second;
+            for (auto& subPose : rig.getSubPoses())
+            {
+                subPose.status = sfmData::ERigSubPoseStatus::CONSTANT;
+            }
+        }
     }
 
     // Mark all intrinsics as calibrated
@@ -521,16 +536,6 @@ int aliceVision_main(int argc, char* argv[])
         intrinsicPtr->setInitializationMode(camera::EInitMode::CALIBRATED);
     }
 
-    // Mark all rig sub-poses as constant
-    for (auto& pr : sfmData.getRigs())
-    {
-        sfmData::Rig& rig = pr.second;
-        for (auto& subPose : rig.getSubPoses())
-        {
-            subPose.status = sfmData::ERigSubPoseStatus::CONSTANT;
-        }
-    }
-
     // Save sfmData to disk
     if (!sfmDataIO::Save(sfmData, sfmOutputDataFilepath, sfmDataIO::ESfMData(sfmDataIO::ALL)))
     {