utils.py 文件源码

def calibrate_intrinsics(camera, image_points,
                         object_points,
                         use_rational_model=True,
                         use_tangential=False,
                         use_thin_prism=False,
                         fix_radial=False,
                         fix_thin_prism=False,
                         max_iterations=30,
                         use_existing_guess=False,
                         test=False):
    flags = 0
    if test:
        flags = flags | cv2.CALIB_USE_INTRINSIC_GUESS
        # fix everything
        flags = flags | cv2.CALIB_FIX_PRINCIPAL_POINT
        flags = flags | cv2.CALIB_FIX_ASPECT_RATIO
        flags = flags | cv2.CALIB_FIX_FOCAL_LENGTH
        # apparently, we can't fix the tangential distance. What the hell? Zero it out.
        flags = flags | cv2.CALIB_ZERO_TANGENT_DIST
        flags = fix_radial_flags(flags)
        flags = flags | cv2.CALIB_FIX_S1_S2_S3_S4
        criteria = (cv2.TERM_CRITERIA_MAX_ITER, 1, 0)
    else:
        if fix_radial:
            flags = fix_radial_flags(flags)
        if fix_thin_prism:
            flags = flags | cv2.CALIB_FIX_S1_S2_S3_S4
        criteria = (cv2.TERM_CRITERIA_MAX_ITER + cv2.TERM_CRITERIA_EPS, max_iterations,
                    2.2204460492503131e-16)
    if use_existing_guess:
        flags = flags | cv2.CALIB_USE_INTRINSIC_GUESS
    if not use_tangential:
        flags = flags | cv2.CALIB_ZERO_TANGENT_DIST
    if use_rational_model:
        flags = flags | cv2.CALIB_RATIONAL_MODEL
        if len(camera.intrinsics.distortion_coeffs) < 8:
            camera.intrinsics.distortion_coeffs.resize((8,))
    if use_thin_prism:
        flags = flags | cv2.CALIB_THIN_PRISM_MODEL
        if len(camera.intrinsics.distortion_coeffs) != 12:
            camera.intrinsics.distortion_coeffs = np.resize(camera.intrinsics.distortion_coeffs, (12,))
    return __calibrate_intrinsics(camera, image_points, object_points, flags, criteria)