Change to CAP_DSHOW for VideoCapture

source/UI/HomePageWidget.py

@@ -436,25 +436,25 @@ class HomeWindow(QWidget):
         for camera in self.cameraList: # Loop all Cameras
             ok, frame = camera.capture.read() #Capture a frame
 
-            if not ok: # Check if captured frame is valid, if even one frame is invalide the whole capture failed
+            if not ok: # A single failed grab shouldn't discard what other cameras saw
                 self.logger.log(f"Could not grab frame for calibration sample, from camera {camera.index}.")
-                return
-            
-            h, w = frame.shape[:2]  
+                continue
+
+            h, w = frame.shape[:2]
             self.logger.log(f"cam{camera.index} capture size = {w}x{h}")
 
             gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY) # Turn the frame black and white
             gray = 255 - gray # Invert the color of the frame, as the ChArCuo board I use is inverted (to save printer Ink)
 
-            h, w = gray.shape[:2]  
+            h, w = gray.shape[:2]
             self.logger.log(f"cam{camera.index} capture size = {w}x{h}")
 
             #This is apparently a fast check, bevor i detect the actuall board
             corner, ids, _ = self.arcuo_detector.detectMarkers(gray) #Detect ChArCuo Markers
-            if ids is None or len(ids) == 0: #Check if Markers where found, if none where found the sample is invalid
+            if ids is None or len(ids) == 0: #Board not visible from this camera this time, skip it, not the whole sample
                 self.logger.log(f"Not enought markers found for calibration sample, from camera {camera.index}.")
-                return
-            
+                continue
+
             # Detecting the Charcuo board and evaluating if its good as a sample
             result = self.charuco_detector.detectBoard(gray)
 
@@ -463,12 +463,12 @@ class HomeWindow(QWidget):
 
             if charuco_ids is None:
                 self.logger.log(f"Not enought markers found for calibration sample, from camera {camera.index}.")
-                return
-            
+                continue
+
             if len(charuco_ids) < MIN_CHARUCO_CORNERS:
                 self.logger.log(f"Not enought markers found for calibration sample, from camera {camera.index}.")
-                return
-            
+                continue
+
             # Adding the sample for the current camera to detections
             detections[camera.index] = CharucoDetection(
                 camera_id = camera.index,
@@ -477,12 +477,18 @@ class HomeWindow(QWidget):
                 gray_frame = gray
             )
 
-        # All cameras found valide markers so the sample capture was succesfull
+        # Need at least two cameras' worth of detections for this sample to be
+        # useful for stereo pairing (a single-camera detection can still help
+        # that camera's intrinsics, but can't contribute to any camera pair).
+        if len(detections) < 2:
+            self.logger.log("Not enough cameras saw the board in this sample, discarding.")
+            return
+
         self.calibration_samples.append(
             CalibrationSample(detections=detections)
         )
 
-        self.logger.log("Added calibration sample.")
+        self.logger.log(f"Added calibration sample ({len(detections)}/{len(self.cameraList)} cameras saw the board).")
 
     def updateCameras(self):
         self._clearLayout()