calibrate.py 文件源码

def calibrate(images):
    obj_points, img_points = find_points(images)

    if len(img_points) == 0:
        print('Impossible to calibrate: could not find any image points')
        raise

    print('Calibrating using %s images...' % len(img_points))
    image_size = images[0][0].shape[::-1]

    reprojection_error, camera_matrix, distortion_coefficient, rotation_v,\
        translation_v = cv.calibrateCamera(obj_points, img_points, image_size)

    out = {}
    out['reprojection_error'] = reprojection_error
    out['camera_matrix'] = camera_matrix
    out['distortion_coefficient'] = distortion_coefficient
    out['rotation_v'] = rotation_v
    out['translation_v'] = translation_v
    return out