getPMatrix.py 文件源码

def getP(self, dst):
        """
        dst: ??????

        return self.MTX,self.DIST,self.RVEC,self.TVEC:
        ?? ?????????????????

        """
        if self.SceneImage is None:
            return None

        corners = np.float32([dst[1], dst[0], dst[2], dst[3]])
        gray = cv2.cvtColor(self.SceneImage, cv2.COLOR_BGR2GRAY)
        # termination criteria
        criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)

        # prepare object points, like (0,0,0), (1,0,0), (1,0,0), (1,1,0)
        objp = np.zeros((2*2,3), np.float32)
        objp[:,:2] = np.mgrid[0:2,0:2].T.reshape(-1,2)

        corners2 = cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria)

        if self.PTimes < self.PCount or self.PCount == 0:
            # Arrays to store object points and image points from all the images.
            objpoints = self.OBJPoints # 3d point in real world space
            imgpoints = self.IMGPoints # 2d points in image plane.

            if len(imgpoints) == 0 or np.sum(np.abs(imgpoints[-1] - corners2)) != 0:
                objpoints.append(objp)
                imgpoints.append(corners2)

            # Find mtx, dist, rvecs, tvecs
            ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1],None,None)
            if not ret:
                self.PTimes += 1
                return None
            self.OBJPoints = objpoints
            self.IMGPoints = imgpoints
            self.MTX = mtx
            self.DIST = dist
            self.RVEC = rvecs[0]
            self.TVEC = tvecs[0]
        else:
            # Find the rotation and translation vectors.
            _, rvec, tvec, _= cv2.solvePnPRansac(objp, corners2, self.MTX, self.DIST)
            self.RVEC = rvec
            self.TVEC = tvec
        self.PTimes += 1

        return self.MTX,self.DIST,self.RVEC,self.TVEC