def stereo_calibrate(left_file,
right_file,
left_dir,
left_prefix,
right_dir,
right_prefix,
image_format,
save_file,
square_size,
width=9,
height=6):
""" Stereo calibration and rectification """
objp, leftp, rightp = load_image_points(left_dir, left_prefix, right_dir,
right_prefix, image_format,
square_size, width, height)
K1, D1 = load_coefficients(left_file)
K2, D2 = load_coefficients(right_file)
flags = 0
flags |= cv2.CALIB_FIX_INTRINSIC
#flags |= cv2.CALIB_USE_INTRINSIC_GUESS
flags |= cv2.CALIB_FIX_ASPECT_RATIO
#flags |= cv2.CALIB_SAME_FOCAL_LENGTH
#flags |= cv2.CALIB_SAME_FOCAL_LENGTH
ret, K1, D1, K2, D2, R, T, E, F = cv2.stereoCalibrate(objp,
leftp,
rightp,
K1,
D1,
K2,
D2,
image_size,
flags=flags)
print("Stereo calibration rms: ", ret)
R1, R2, P1, P2, Q, roi_left, roi_right = cv2.stereoRectify(
K1,
D1,
K2,
D2,
image_size,
R,
T,
flags=cv2.CALIB_ZERO_DISPARITY,
alpha=0.6)
save_stereo_coefficients(save_file, K1, D1, K2, D2, R, T, E, F, R1, R2, P1,
P2, Q)
def stereo_calibrate(left_file,
right_file,
left_dir,
left_prefix,
right_dir,
right_prefix,
image_format,
save_file,
square_size,
width=9,
height=6):
""" Stereo calibration and rectification """
objp, leftp, rightp = load_image_points(left_dir, left_prefix, right_dir,
right_prefix, image_format,
square_size, width, height)
K1, D1 = load_coefficients(left_file)
print("left_camera_matrix:")
print(K1)
print("left_distortion:")
print(D1)
print("--" * 30)
K2, D2 = load_coefficients(right_file)
print("right_camera_matrix:")
print(K2)
print("right_distortion:")
print(D2)
print("--" * 30)
flag = 0
# flag |= cv2.CALIB_FIX_INTRINSIC
flag |= cv2.CALIB_USE_INTRINSIC_GUESS
ret, K1, D1, K2, D2, R, T, E, F = cv2.stereoCalibrate(
objp, leftp, rightp, K1, D1, K2, D2, image_size)
print("Stereo calibration rms: ", ret)
R1, R2, P1, P2, Q, roi_left, roi_right = cv2.stereoRectify(
K1,
D1,
K2,
D2,
image_size,
R,
T,
flags=cv2.CALIB_ZERO_DISPARITY,
alpha=0.9)
save_stereo_coefficients(save_file, K1, D1, K2, D2, R, T, E, F, R1, R2, P1,
P2, Q)
def extrinsic_calibration(left_path: list, right_path: list, img_width: int, img_height: int, used_image_ratio: int):
"""Find intrinsic and extrinsic calibration parameters for stereo pair of pinhol cameras."""
leftp_dict = find_chessboard_corners_2d(left_path, window_size=(5, 5),
find_flags=cv2.CALIB_CB_ADAPTIVE_THRESH | cv2.CALIB_CB_FILTER_QUADS)
rightp_dict = find_chessboard_corners_2d(right_path, window_size=(5, 5),
find_flags=cv2.CALIB_CB_ADAPTIVE_THRESH | cv2.CALIB_CB_FILTER_QUADS)
good_couples_path = set(leftp_dict).intersection(rightp_dict)
leftp = [leftp_dict.get(key) for key in good_couples_path]
rightp = [rightp_dict.get(key) for key in good_couples_path]
leftp = leftp[0::used_image_ratio]
rightp = rightp[0::used_image_ratio]
objp = define_chessboard_corners_3d(len(leftp))
print('Begin stereo calibration for frames: ', len(objp))
K1, D1 = load_coefficients(LEFT_INTRINSIC)
K2, D2 = load_coefficients(RIGHT_INTRINSIC)
ret, K1, D1, K2, D2, R, T, E, F = cv2.stereoCalibrate(objp, leftp, rightp, K1, D1, K2, D2, (img_height, img_width))
R1, R2, P1, P2, Q, roi_left, roi_right = cv2.stereoRectify(K1, D1, K2, D2, (img_height, img_width), R, T,
flags=cv2.CALIB_ZERO_DISPARITY, alpha=0.9)
save_stereo_coefficients(EXTRINSIC, K1, D1, K2, D2, R, T, E, F, R1, R2, P1, P2, Q)