camera-calibration-pvr.py 文件源码

def reconstruct_rectangle(pa, pb, pc, pd, scale, focal):
    # Calculate the coordinates of the rectangle in 3d
    coords = get_lambda_d(pa, pb, pc, pd, scale, focal)
    # Calculate the transformation of the rectangle
    trafo = get_transformation(coords[0], coords[1], coords[2], coords[3])
    # Reconstruct the rotation angles of the transformation
    angles = get_rot_angles(trafo[0], trafo[1], trafo[2])
    xyz_matrix = mathutils.Euler((angles[0], angles[1], angles[2]), "XYZ")
    # Reconstruct the camera position and the corners of the rectangle in 3d such that it lies on the xy-plane
    tr = trafo[-1]
    cam_pos = apply_transformation([mathutils.Vector((0.0, 0.0, 0.0))], tr, xyz_matrix)[0]
    corners = apply_transformation(coords, tr, xyz_matrix)
    # Printout for debugging
    print("Focal length:", focal)
    print("Camera rotation:", degrees(angles[0]), degrees(angles[1]), degrees(angles[2]))
    print("Camera position:", cam_pos)
    length = (coords[0] - coords[1]).length
    width = (coords[0] - coords[3]).length
    size = max(length, width)
    print("Rectangle length:", length)
    print("Rectangle width:", width)
    print("Rectangle corners:", corners)
    return (cam_pos, xyz_matrix, corners, size)