better --help

dkogan · Sep 30, 2024 · 71c89c4 · 71c89c4
1 parent 48ca518
commit 71c89c4
Showing 1 changed file with 42 additions and 0 deletions.
diff --git a/mrcal-stereo b/mrcal-stereo
@@ -37,6 +37,48 @@ SYNOPSIS
   Wrote '/tmp/left-range.png'
   Wrote '/tmp/points-cam0.vnl'
 
+
+  ### To "manually" stereo-rectify a pair of images
+  $ mrcal-stereo          \
+      --az-fov-deg 80     \
+      --el-fov-deg 50     \
+      --outdir /tmp       \
+      left.cameramodel    \
+      right.cameramodel
+  Wrote '/tmp/rectified0.cameramodel'
+  Wrote '/tmp/rectified1.cameramodel'
+
+  $ mrcal-reproject-image         \
+      --outdir /tmp               \
+      /tmp/left.cameramodel       \
+      /tmp/rectified0.cameramodel \
+      left.jpg
+  Wrote /tmp/left-reprojected.jpg
+
+  $ mrcal-reproject-image          \
+      --outdir /tmp                \
+      /tmp/right.cameramodel       \
+      /tmp/rectified1.cameramodel  \
+      right.jpg
+  Wrote /tmp/right-reprojected.jpg
+
+  $ mrcal-stereo                       \
+      --already-rectified              \
+      --outdir /tmp                    \
+      /tmp/rectified[01].cameramodel   \
+      /tmp/left-reprojected.jpg        \
+      /tmp/right-reprojected.jpg
+
+  # This is the same as using mrcal-stereo to do all the work:
+  $ mrcal-stereo          \
+      --az-fov-deg 80     \
+      --el-fov-deg 50     \
+      --outdir /tmp       \
+      left.cameramodel    \
+      right.cameramodel   \
+      left.jpg            \
+      right.jpg
+
 Given a pair of calibrated cameras and pairs of images captured by these
 cameras, this tool runs the whole stereo processing sequence to produce
 disparity and range images and a point cloud array.