camera_intrinsics_estimation.py 文件源码

def update(self,frame,events):
        if self.collect_new:
            img = frame.img
            status, grid_points = cv2.findCirclesGrid(img, (4,11), flags=cv2.CALIB_CB_ASYMMETRIC_GRID)
            if status:
                self.img_points.append(grid_points)
                self.obj_points.append(self.obj_grid)
                self.collect_new = False
                self.count -=1
                self.button.status_text = "{:d} to go".format(self.count)


        if self.count<=0 and not self.calculated:
            self.calculate()
            self.button.status_text = ''

        if self.window_should_close:
            self.close_window()

        if self.show_undistortion:

            adjusted_k,roi = cv2.getOptimalNewCameraMatrix(cameraMatrix= self.camera_intrinsics[0], distCoeffs=self.camera_intrinsics[1], imageSize=self.camera_intrinsics[2], alpha=0.5,newImgSize=self.camera_intrinsics[2],centerPrincipalPoint=1)
            self.undist_img = cv2.undistort(frame.img, self.camera_intrinsics[0], self.camera_intrinsics[1],newCameraMatrix=adjusted_k)