ComfyUI Node
CV Stereo Calibration From CSV
Reads per-image stereo calibration from CSV files (e.g. StereoGeo-CARLA). Computes camera intrinsics K from vertical FOV (pinhole model, no distortion). Returns K, dist (zeros), R, T ready for stereoRectify. CSV columns — left: image_name, width, height, roll, pitch, vfov. Right: same + R_00..R_22, t_0..t_2. Found=false if the image name is not in both CSVs.
CV Stereo Calibration From CSV
- K_left
- dist_left
- K_right
- dist_right
- R
- T
- found
◄csv_path_left—►
◄csv_path_right—►
◄image_name—►
◄image_width640►
◄image_height480►
Categoryimage/CV/features
Inputs (5)
| Name | Type | Default | Description |
|---|---|---|---|
| csv_path_left | STRING | Left camera CSV. Bare filename resolves against ComfyUI/input/; absolute paths pass through. | |
| csv_path_right | STRING | Right camera CSV. Bare filename resolves against ComfyUI/input/; absolute paths pass through. | |
| image_name | STRING | Image filename to look up (e.g. '000000.png'). | |
| image_width | INT | 640 | Image width in pixels (used for cx = width/2). |
| image_height | INT | 480 | Image height in pixels (used for cy = height/2). |
Outputs (7)
| Name | Type | Description |
|---|---|---|
| K_left | NPARRAY | 3x3 intrinsic matrix for the left camera. |
| dist_left | NPARRAY | 1x5 distortion coefficients (zeros for pinhole). |
| K_right | NPARRAY | 3x3 intrinsic matrix for the right camera. |
| dist_right | NPARRAY | 1x5 distortion coefficients (zeros for pinhole). |
| R | NPARRAY | 3x3 rotation matrix from left to right camera. |
| T | NPARRAY | 3x1 translation vector from left to right camera. |
| found | BOOLEAN | — |