app_unsynced.py 文件源码

def find_camera_poses(self, verbose=False):
        ix_cam = 0
        for video in self.videos:
            camera = self.cameras[ix_cam]
            if verbose:
                print("Finding camera poses for video {:s} ... (this may take awhile)".format(video.name))
            video.poses = []
            rotations, translations = calibrate_intrinsics(camera, video.image_points,
                                                           self.board_object_corner_set,
                                                           self.args.use_rational_model,
                                                           self.args.use_tangential_coeffs,
                                                           self.args.use_thin_prism,
                                                           fix_radial=True,
                                                           fix_thin_prism=True,
                                                           max_iterations=1,
                                                           use_existing_guess=True,
                                                           test=True)
            if verbose:
                print("Camera pose reprojection error for video {:s}: {:.4f}"
                      .format(video.name, camera.intrinsics.error))
            for ix_pose in range(len(rotations)):
                translation = translations[ix_pose]
                rotation = rotations[ix_pose]
                pose = Pose(rotation=rotation, translation_vector=translation)
                video.poses.append(pose)

            ix_cam += 1