calibrator.py 文件源码

def cal_fromcorners(self, good):
        # Perform monocular calibrations
        lcorners = [(l, b) for (l, r, b) in good]
        rcorners = [(r, b) for (l, r, b) in good]
        self.l.cal_fromcorners(lcorners)
        self.r.cal_fromcorners(rcorners)

        lipts = [ l for (l, _, _) in good ]
        ripts = [ r for (_, r, _) in good ]
        boards = [ b for (_, _, b) in good ]

        opts = self.mk_object_points(boards, True)

        flags = cv2.CALIB_FIX_INTRINSIC

        self.T = numpy.zeros((3, 1), dtype=numpy.float64)
        self.R = numpy.eye(3, dtype=numpy.float64)
        if LooseVersion(cv2.__version__).version[0] == 2:
            cv2.stereoCalibrate(opts, lipts, ripts, self.size,
                               self.l.intrinsics, self.l.distortion,
                               self.r.intrinsics, self.r.distortion,
                               self.R,                            # R
                               self.T,                            # T
                               criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 1, 1e-5),
                               flags = flags)
        else:
            cv2.stereoCalibrate(opts, lipts, ripts,
                               self.l.intrinsics, self.l.distortion,
                               self.r.intrinsics, self.r.distortion,
                               self.size,
                               self.R,                            # R
                               self.T,                            # T
                               criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 1, 1e-5),
                               flags = flags)

        self.set_alpha(0.0)