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Bump mrcal to 2.5 #17

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Merged
Gold856 merged 5 commits into from
Dec 28, 2025
Merged

Bump mrcal to 2.5 #17

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b2c7d0c
bump mrcal to 2.5
samfreund Dec 27, 2025
33d11c5
fix cmake
samfreund Dec 27, 2025
c89102c
fix mrcal_num_measurements args
samfreund Dec 27, 2025
574a1a6
some more arg fixing
samfreund Dec 27, 2025
39335e1
Merge branch 'main' into bump-mrcal
samfreund Dec 27, 2025
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -153,7 +153,7 @@ set(SRC_CPP
mrcal/poseutils-uses-autodiff.cc
mrcal/poseutils.c
mrcal/poseutils-opencv.c
mrcal/mrcal-opencv.c
mrcal/opencv.c
mrcal/triangulation.cc
)

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2 changes: 1 addition & 1 deletion mrcal
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Submodule mrcal updated 187 files
21 changes: 9 additions & 12 deletions src/mrcal_wrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -110,7 +110,7 @@ static std::unique_ptr<mrcal_result> mrcal_calibrate(

// Pool is the raw observation backing array
mrcal_point3_t *c_observations_board_pool = (observations_board.data());
// mrcal_point3_t *c_observations_point_pool = observations_point;
mrcal_point3_t *c_observations_point_pool = observations_point;

// Copy from board/point pool above, using some code borrowed from
// mrcal-pywrap
Expand Down Expand Up @@ -154,8 +154,6 @@ static std::unique_ptr<mrcal_result> mrcal_calibrate(
int Ncameras_extrinsics = 0; // Seems to always be zero for single camera
int Nframes =
frames_rt_toref.size(); // Number of pictures of the object we've got
// mrcal_observation_point_triangulated_t *observations_point_triangulated =
// NULL;

if (!lensmodel_one_validate_args(&mrcal_lensmodel, intrinsics, false)) {
auto ret = std::make_unique<mrcal_result>();
Expand All @@ -164,9 +162,8 @@ static std::unique_ptr<mrcal_result> mrcal_calibrate(
}

int Nmeasurements = mrcal_num_measurements(
Nobservations_board, Nobservations_point,
// observations_point_triangulated,
// 0, // hard-coded to 0
Nobservations_board, Nobservations_point, NULL,
0, // We don't use these, so pass nulls
calibration_object_width_n, calibration_object_height_n,
Ncameras_intrinsics, Ncameras_extrinsics, Nframes, Npoints, Npoints_fixed,
problem_selections, &mrcal_lensmodel);
Expand Down Expand Up @@ -197,16 +194,16 @@ static std::unique_ptr<mrcal_result> mrcal_calibrate(
c_extrinsics, c_frames, c_points, c_calobject_warp, Ncameras_intrinsics,
Ncameras_extrinsics, Nframes, Npoints, Npoints_fixed,
c_observations_board, c_observations_point, Nobservations_board,
Nobservations_point,
// observations_point_triangulated, -1,
c_observations_board_pool, &mrcal_lensmodel, c_imagersizes,
problem_selections, &problem_constants, calibration_object_spacing,
calibration_object_width_n, calibration_object_height_n, verbose, false);
Nobservations_point, NULL, -1, // We don't use these, so pass nulls
c_observations_board_pool, c_observations_point_pool, &mrcal_lensmodel,
c_imagersizes, problem_selections, &problem_constants,
calibration_object_spacing, calibration_object_width_n,
calibration_object_height_n, verbose, false);

std::vector<double> residuals = {c_x_final, c_x_final + Nmeasurements};
return std::make_unique<mrcal_result>(
true, intrinsics, stats.rms_reproj_error__pixels, residuals,
calobject_warp, stats.Noutliers);
calobject_warp, stats.Noutliers_board);
}

struct MrcalSolveOptions {
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