calibrator.py 文件源码

def set_alpha(self, a):
        """
        Set the alpha value for the calibrated camera solution.  The alpha
        value is a zoom, and ranges from 0 (zoomed in, all pixels in
        calibrated image are valid) to 1 (zoomed out, all pixels in
        original image are in calibrated image).
        """

        # NOTE: Prior to Electric, this code was broken such that we never actually saved the new
        # camera matrix. In effect, this enforced P = [K|0] for monocular cameras.
        # TODO: Verify that OpenCV #1199 gets applied (improved GetOptimalNewCameraMatrix)
        ncm, _ = cv2.getOptimalNewCameraMatrix(self.intrinsics, self.distortion, self.size, a)
        for j in range(3):
            for i in range(3):
                self.P[j,i] = ncm[j, i]
        self.mapx, self.mapy = cv2.initUndistortRectifyMap(self.intrinsics, self.distortion, self.R, ncm, self.size, cv2.CV_32FC1)