calibrator.py 文件源码

def cal_fromcorners(self, good):
        """
        :param good: Good corner positions and boards 
        :type good: [(corners, ChessboardInfo)]


        """
        boards = [ b for (_, b) in good ]

        ipts = [ points for (points, _) in good ]
        opts = self.mk_object_points(boards)

        self.intrinsics = numpy.zeros((3, 3), numpy.float64)
        if self.calib_flags & cv2.CALIB_RATIONAL_MODEL:
            self.distortion = numpy.zeros((8, 1), numpy.float64) # rational polynomial
        else:
            self.distortion = numpy.zeros((5, 1), numpy.float64) # plumb bob
        # If FIX_ASPECT_RATIO flag set, enforce focal lengths have 1/1 ratio
        self.intrinsics[0,0] = 1.0
        self.intrinsics[1,1] = 1.0
        cv2.calibrateCamera(
                   opts, ipts,
                   self.size, self.intrinsics,
                   self.distortion,
                   flags = self.calib_flags)

        # R is identity matrix for monocular calibration
        self.R = numpy.eye(3, dtype=numpy.float64)
        self.P = numpy.zeros((3, 4), dtype=numpy.float64)

        self.set_alpha(0.0)