utils.py 文件源码

def __calibrate_intrinsics(camera, image_points, object_points, flags, criteria):
    """
    Calibrate intrinsics of the provided camera using provided image & object points & calibration flags & criteria.
    @param camera: camera to calibrate
    @param image_points: points in images taken with the camera that correspond to the 3d object_points.
    @param object_points: 3d points on the object that appears in *each* of the images.
    Usually, inner corners of a calibration board. Note: assumes *the same* object appears in all of the images.
    @param flags: OpenCV camera calibration flags. For details, see OpenCV calib3d documentation, calibrate function.
    @param criteria: OpenCV criteria.
    @return: estimated object-space rotation & translation vectors of the camera (assuming object is static)
    """
    # OpenCV prefers [width x height] as "Size" to [height x width]
    frame_dims = (camera.intrinsics.resolution[1], camera.intrinsics.resolution[0])
    start = time.time()
    camera.intrinsics.error, camera.intrinsics.intrinsic_mat, camera.intrinsics.distortion_coeffs, \
    rotation_vectors, translation_vectors = \
        cv2.calibrateCamera(objectPoints=np.array([object_points]*len(image_points)), imagePoints=image_points,
                            imageSize=frame_dims, cameraMatrix=camera.intrinsics.intrinsic_mat,
                            distCoeffs=camera.intrinsics.distortion_coeffs,
                            flags=flags, criteria=criteria)
    end = time.time()
    camera.intrinsics.time = end - start
    camera.intrinsics.timestamp = end
    camera.intrinsics.calibration_image_count = len(image_points)
    return rotation_vectors, translation_vectors