Add initial guess for calibration

AGENTS.md

@@ -36,6 +36,20 @@ Never modify the stubs. They are autogenerated, and your changes will just be ov
 
 Keep comments minimal, only add comments when the code needs explaining why it's doing something.
 
+# Control flow
+
+Prefer early returns or early continues over nested conditionals when it keeps
+the main path flatter and easier to read. Do not contort code just to avoid
+nesting, but avoid pyramid-shaped control flow.
+
+Do not use ternary expressions. Use explicit `if`/`else` statements instead.
+
+# Frame transforms
+
+Name pose/transform variables exactly with the `A_from_B` convention, where the
+transform maps coordinates from frame B into frame A. Avoid vague names like
+`pose` for transforms unless the code is generic over frames.
+
 # Plots
 
 Follow the color scheme of the existing plots in the plots.py file.

cpp_src/calibrate.hpp

@@ -25,13 +25,13 @@ py::dict calibrate_opencv(
 
 py::dict get_matching_spline_distortion_model(
     std::vector<double>& opencv_distortion_params,
-    PinholeSplinedConfig& model_config,
+    PinholeSplinedOptimizationConfig& model_config,
     double image_bound_x,
     double image_bound_y
 );
 
 py::dict fine_tune_pinhole_splined(
-    PinholeSplinedConfig& model_config,
+    PinholeSplinedOptimizationConfig& model_config,
     PinholeSplinedIntrinsicsParameters& intrinsics_parameters,
     std::vector<Vec6<double>>& cameras_from_target,
     std::vector<Vec3<double>>& target_points,
@@ -42,9 +42,9 @@ py::dict fine_tune_pinhole_splined(
 );
 
 py::array_t<double> normalize_pinhole_splined_points(
-    PinholeSplinedConfig& config,
+    PinholeSplinedModelDefinition& config,
     PinholeSplinedIntrinsicsParameters& intrinsics,
     py::array_t<double, py::array::c_style | py::array::forcecast> pixel_coords
 );
 
-}  // namespace lensboy
+}  // namespace lensboy

cpp_src/cameramodels.hpp

@@ -12,13 +12,16 @@
 namespace py = pybind11;
 namespace lensboy {
 
-struct PinholeSplinedConfig {
+struct PinholeSplinedModelDefinition {
     uint32_t image_width;
     uint32_t image_height;
     double fov_deg_x;
     double fov_deg_y;
     uint32_t num_knots_x;
     uint32_t num_knots_y;
+};
+
+struct PinholeSplinedOptimizationConfig : PinholeSplinedModelDefinition {
     double smoothness_lambda;
 };
 
@@ -313,7 +316,7 @@ struct SplineMap {
     double y_scale = 0.0;
 
     explicit SplineMap(
-        const PinholeSplinedConfig& cfg
+        const PinholeSplinedModelDefinition& cfg
     ) {
         this->Nx = static_cast<int>(cfg.num_knots_x);
         this->Ny = static_cast<int>(cfg.num_knots_y);
@@ -406,7 +409,7 @@ struct SplineMap {
 
 template <typename T>
 void project_pinhole_splined(
-    PinholeSplinedConfig* config,
+    PinholeSplinedModelDefinition* config,
     const T* const pinhole_parameters,  // fx, fy, cx, cy
     const T* const dx_grid,
     const T* const dy_grid,

cpp_src/lut_max_cell_error.cpp

@@ -844,7 +844,7 @@ inline void project_pinhole_splined_n(
 }
 
 py::array_t<double> max_cell_errors_pinhole_splined(
-    PinholeSplinedConfig& config,
+    PinholeSplinedModelDefinition& config,
     PinholeSplinedIntrinsicsParameters& intrinsics,
     py::array_t<double, py::array::c_style | py::array::forcecast> lut_xy_grid,
     int image_width,

cpp_src/lut_max_cell_error.hpp

@@ -22,7 +22,7 @@ namespace py = pybind11;
 // interpolation_mode: 0=nearest, 1=bilinear, 2=bicubic.
 
 py::array_t<double> max_cell_errors_pinhole_splined(
-    PinholeSplinedConfig& config,
+    PinholeSplinedModelDefinition& config,
     PinholeSplinedIntrinsicsParameters& intrinsics,
     py::array_t<double, py::array::c_style | py::array::forcecast> lut_xy_grid,
     int image_width,

cpp_src/main.cpp

@@ -23,59 +23,110 @@ PYBIND11_MODULE(
 ) {
     m.doc() = "lensboy for camera calibration";
     spdlog::flush_on(spdlog::level::trace);
-    py::class_<lensboy::PinholeSplinedConfig>(m, "PinholeSplinedConfig")
+    py::class_<lensboy::PinholeSplinedModelDefinition>(
+        m,
+        "PinholeSplinedModelDefinition"
+    )
         .def(
-            py::init<
-                uint32_t,
-                uint32_t,
-                double,
-                double,
-                uint32_t,
-                uint32_t,
-                double>(),
+            py::init<uint32_t, uint32_t, double, double, uint32_t, uint32_t>(),
             py::arg("image_width"),
             py::arg("image_height"),
             py::arg("fov_deg_x"),
             py::arg("fov_deg_y"),
             py::arg("num_knots_x"),
-            py::arg("num_knots_y"),
-            py::arg("smoothness_lambda")
+            py::arg("num_knots_y")
         )
         .def_readwrite(
             "image_width",
-            &lensboy::PinholeSplinedConfig::image_width
+            &lensboy::PinholeSplinedModelDefinition::image_width
         )
         .def_readwrite(
             "image_height",
-            &lensboy::PinholeSplinedConfig::image_height
+            &lensboy::PinholeSplinedModelDefinition::image_height
+        )
+        .def_readwrite(
+            "fov_deg_x",
+            &lensboy::PinholeSplinedModelDefinition::fov_deg_x
+        )
+        .def_readwrite(
+            "fov_deg_y",
+            &lensboy::PinholeSplinedModelDefinition::fov_deg_y
         )
-        .def_readwrite("fov_deg_x", &lensboy::PinholeSplinedConfig::fov_deg_x)
-        .def_readwrite("fov_deg_y", &lensboy::PinholeSplinedConfig::fov_deg_y)
 
         .def_readwrite(
             "num_knots_x",
-            &lensboy::PinholeSplinedConfig::num_knots_x
+            &lensboy::PinholeSplinedModelDefinition::num_knots_x
         )
         .def_readwrite(
             "num_knots_y",
-            &lensboy::PinholeSplinedConfig::num_knots_y
+            &lensboy::PinholeSplinedModelDefinition::num_knots_y
+        )
+        .def(
+            "__repr__",
+            [](const lensboy::PinholeSplinedModelDefinition& self) {
+                std::ostringstream oss;
+                oss << "PinholeSplinedModelDefinition("
+                    << "image_width=" << self.image_width
+                    << ", image_height=" << self.image_height
+                    << ", fov_deg_x=" << self.fov_deg_x
+                    << ", fov_deg_y=" << self.fov_deg_y
+                    << ", num_knots_x=" << self.num_knots_x
+                    << ", num_knots_y=" << self.num_knots_y << ")";
+                return oss.str();
+            }
+        );
+
+    py::class_<
+        lensboy::PinholeSplinedOptimizationConfig,
+        lensboy::PinholeSplinedModelDefinition>(
+        m,
+        "PinholeSplinedOptimizationConfig"
+    )
+        .def(
+            py::init([](uint32_t image_width,
+                        uint32_t image_height,
+                        double fov_deg_x,
+                        double fov_deg_y,
+                        uint32_t num_knots_x,
+                        uint32_t num_knots_y,
+                        double smoothness_lambda) {
+                lensboy::PinholeSplinedOptimizationConfig config;
+                config.image_width = image_width;
+                config.image_height = image_height;
+                config.fov_deg_x = fov_deg_x;
+                config.fov_deg_y = fov_deg_y;
+                config.num_knots_x = num_knots_x;
+                config.num_knots_y = num_knots_y;
+                config.smoothness_lambda = smoothness_lambda;
+                return config;
+            }),
+            py::arg("image_width"),
+            py::arg("image_height"),
+            py::arg("fov_deg_x"),
+            py::arg("fov_deg_y"),
+            py::arg("num_knots_x"),
+            py::arg("num_knots_y"),
+            py::arg("smoothness_lambda")
         )
         .def_readwrite(
             "smoothness_lambda",
-            &lensboy::PinholeSplinedConfig::smoothness_lambda
+            &lensboy::PinholeSplinedOptimizationConfig::smoothness_lambda
         )
-        .def("__repr__", [](const lensboy::PinholeSplinedConfig& self) {
-            std::ostringstream oss;
-            oss << "PinholeSplinedConfig("
-                << "image_width=" << self.image_width
-                << ", image_height=" << self.image_height
-                << ", fov_deg_x=" << self.fov_deg_x
-                << ", fov_deg_y=" << self.fov_deg_y
-                << ", num_knots_x=" << self.num_knots_x
-                << ", num_knots_y=" << self.num_knots_y
-                << ", smoothness_lambda=" << self.smoothness_lambda << ")";
-            return oss.str();
-        });
+        .def(
+            "__repr__",
+            [](const lensboy::PinholeSplinedOptimizationConfig& self) {
+                std::ostringstream oss;
+                oss << "PinholeSplinedOptimizationConfig("
+                    << "image_width=" << self.image_width
+                    << ", image_height=" << self.image_height
+                    << ", fov_deg_x=" << self.fov_deg_x
+                    << ", fov_deg_y=" << self.fov_deg_y
+                    << ", num_knots_x=" << self.num_knots_x
+                    << ", num_knots_y=" << self.num_knots_y
+                    << ", smoothness_lambda=" << self.smoothness_lambda << ")";
+                return oss.str();
+            }
+        );
 
     py::class_<lensboy::PinholeSplinedIntrinsicsParameters>(
         m,

cpp_src/matching_spline_model.cpp

@@ -141,7 +141,7 @@ struct DistortionError {
 
 py::dict get_matching_spline_distortion_model(
     std::vector<double>& opencv_distortion_params,
-    PinholeSplinedConfig& model_config,
+    PinholeSplinedOptimizationConfig& model_config,
     double image_bound_x,
     double image_bound_y
 ) {
@@ -393,4 +393,4 @@ py::dict get_matching_spline_distortion_model(
     return out;
 }
 
-}  // namespace lensboy
+}  // namespace lensboy

cpp_src/normalize_pinhole_splined.cpp

@@ -160,7 +160,7 @@ static Vec2<double> normalize_single_point(
 }
 
 py::array_t<double> normalize_pinhole_splined_points(
-    PinholeSplinedConfig& config,
+    PinholeSplinedModelDefinition& config,
     PinholeSplinedIntrinsicsParameters& intrinsics,
     py::array_t<double, py::array::c_style | py::array::forcecast> pixel_coords
 ) {

cpp_src/pinhole_splined_fine_tune.cpp

@@ -148,7 +148,7 @@ static bool any_cell_changed(
 
 static inline void BuildProblem(
     ceres::Problem& problem,
-    const PinholeSplinedConfig& cfg,
+    const PinholeSplinedOptimizationConfig& cfg,
     const SplineMap& map,
     const double* pinhole_params,
     double* dxp,
@@ -412,7 +412,7 @@ static inline void BuildProblem(
 }
 
 py::dict fine_tune_pinhole_splined(
-    lensboy::PinholeSplinedConfig& model_config,
+    lensboy::PinholeSplinedOptimizationConfig& model_config,
     lensboy::PinholeSplinedIntrinsicsParameters& intrinsics_parameters,
     std::vector<Vec6<double>>& cameras_from_target,
     std::vector<Vec3<double>>& target_points,
@@ -546,4 +546,4 @@ py::dict fine_tune_pinhole_splined(
     return out;
 }
 
-}  // namespace lensboy
+}  // namespace lensboy

cpp_src/python_camera_functions.hpp

@@ -8,7 +8,7 @@
 namespace lensboy {
 
 static py::array_t<double> project_pinhole_splined_pywrapper(
-    lensboy::PinholeSplinedConfig& model_config,
+    lensboy::PinholeSplinedModelDefinition& model_config,
     lensboy::PinholeSplinedIntrinsicsParameters& intrinsics,
     py::array_t<double, py::array::c_style | py::array::forcecast>
         points_in_camera
@@ -71,7 +71,7 @@ static py::array_t<double> project_pinhole_splined_pywrapper(
 }
 
 static py::tuple make_undistortion_maps_pinhole_splined(
-    lensboy::PinholeSplinedConfig& model_config,
+    lensboy::PinholeSplinedModelDefinition& model_config,
     lensboy::PinholeSplinedIntrinsicsParameters& intrinsics,
     py::array_t<double, py::array::c_style | py::array::forcecast>
         pinhole_parameters,

cpp_src/seeded_normalize.cpp

@@ -330,7 +330,7 @@ template <typename T>
 static inline void forward_splined(
     const T& normalized_x,
     const T& normalized_y,
-    PinholeSplinedConfig* config,
+    PinholeSplinedModelDefinition* config,
     const T* pinhole_params,
     const T* dx_grid,
     const T* dy_grid,
@@ -414,7 +414,7 @@ struct SplineConstants {
     double fx, fy, cx, cy;
 
     explicit SplineConstants(
-        PinholeSplinedConfig* config,
+        PinholeSplinedModelDefinition* config,
         const double* pinhole_params
     )
         : num_knots_x((int)config->num_knots_x),
@@ -789,7 +789,7 @@ py::array_t<double> seeded_normalize_splined(
     int seed_width,
     int seed_height,
     py::array_t<double, py::array::c_style | py::array::forcecast> query_pixels,
-    PinholeSplinedConfig& config,
+    PinholeSplinedModelDefinition& config,
     PinholeSplinedIntrinsicsParameters& params
 ) {
     auto seed_pixels_buffer = seed_pixels.request();

cpp_src/seeded_normalize.hpp

@@ -23,7 +23,7 @@ py::array_t<double> seeded_normalize_splined(
     int seed_width,
     int seed_height,
     py::array_t<double, py::array::c_style | py::array::forcecast> query_pixels,
-    PinholeSplinedConfig& config,
+    PinholeSplinedModelDefinition& config,
     PinholeSplinedIntrinsicsParameters& params
 );
 

pyproject.toml

@@ -5,7 +5,7 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "lensboy"
-version = "3.1.0"
+version = "4.0.0"
 description = "lensboy for camera calibrations"
 authors = [{ name = "Robert Leo", email = "robert.leo.jonsson@gmail.com" }]
 

src/lensboy/_logging.py

@@ -47,7 +47,11 @@ def _set_cpp_log_level(level: str) -> None:
 
 
 def _clamp(v: float, lo: float, hi: float) -> float:
-    return lo if v < lo else hi if v > hi else v
+    if v < lo:
+        return lo
+    if v > hi:
+        return hi
+    return v
 
 
 def _fmt_int(n: int) -> str:
@@ -117,7 +121,9 @@ def set(self, n: int) -> None:
             return
         if n < 0:
             raise ValueError("n must be >= 0")
-        self.n = n if self.total <= 0 else min(n, self.total)
+        self.n = n
+        if self.total > 0:
+            self.n = min(n, self.total)
         self.draw(force=True)
 
     def draw(self, *, force: bool = False) -> None: