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 = self.mk_image_points(lcorners)
ripts = self.mk_image_points(rcorners)
boards = [ b for (_, _, b) in good]
opts = self.mk_object_points(boards, True)
npts = self.mk_point_counts(boards)
flags = cv2.CALIB_FIX_INTRINSIC
self.T = cv.CreateMat(3, 1, cv.CV_64FC1)
self.R = cv.CreateMat(3, 3, cv.CV_64FC1)
cv.SetIdentity(self.T)
cv.SetIdentity(self.R)
cv.StereoCalibrate(opts, lipts, ripts, npts,
self.l.intrinsics, self.l.distortion,
self.r.intrinsics, self.r.distortion,
self.size,
self.R, # R
self.T, # T
cv.CreateMat(3, 3, cv.CV_32FC1), # E
cv.CreateMat(3, 3, cv.CV_32FC1), # F
(cv.CV_TERMCRIT_ITER + cv.CV_TERMCRIT_EPS, 1, 1e-5),
flags)
self.set_alpha(0.0)
flags = (cv.CV_CALIB_ZERO_TANGENT_DIST)) #cv.CV_CALIB_ZERO_TANGENT_DIST) # 0)
cv.CalibrateCamera2(opts, ipts2, npts,
cv.GetSize(images2[0]),
intrinsics2,
distortion2,
exR2,
exT2,
flags = cv.CV_CALIB_ZERO_TANGENT_DIST) #cv.CV_CALIB_ZERO_TANGENT_DIST) # 0)
#term_crit =(cv.CV_TERMCRIT_ITER | cv.CV_TERMCRIT_EPS, 50, 0.00000001)
term_crit = (cv.CV_TERMCRIT_ITER+cv.CV_TERMCRIT_EPS, 50, 1e-6)
cv.StereoCalibrate(opts, ipts1, ipts2, npts,
intrinsics1, distortion1, intrinsics2, distortion2,
cv.GetSize(images1[0]), R, T, E, F,
term_crit,
cv.CV_CALIB_FIX_INTRINSIC)
#print "E =",list(cvmat_iterator(E))
#print "F =",list(cvmat_iterator(F))
print "D1 =", list(cvmat_iterator(distortion1))
print "K1 =", list(cvmat_iterator(intrinsics1))
print "D2 =", list(cvmat_iterator(distortion2))
print "K2 =", list(cvmat_iterator(intrinsics2))
print "R =", list(cvmat_iterator(R))
print "T =", list(cvmat_iterator(T))
def do_calibration(self):
if not self.goodenough:
print "Can not calibrate yet!"
return
#append all things in db
good_l_corners = [
lcorners for (lparams, rparams, lcorners, rcorners, lobject_points,
robject_points) in self.db
]
good_l_points = [
lobject_points for (lparams, rparams, lcorners, rcorners,
lobject_points, robject_points) in self.db
]
good_r_corners = [
rcorners for (lparams, rparams, lcorners, rcorners, lobject_points,
robject_points) in self.db
]
good_r_points = [
robject_points for (lparams, rparams, lcorners, rcorners,
lobject_points, robject_points) in self.db
]
# Perform monocular calibrations
self.l.do_calibration()
self.r.do_calibration()
## print "left intrinsics"
## print numpy.asarray(self.l.intrinsics)
## print "left distortion"
## print numpy.asarray(self.l.distortion)
## print "left projection"
## print numpy.asarray(self.l.P)
##
## print "right intrinsics"
## print numpy.asarray(self.r.intrinsics)
## print "right distortion"
## print numpy.asarray(self.r.distortion)
## print "right projection"
## print numpy.asarray(self.r.P)
flags = cv2.CALIB_FIX_INTRINSIC
self.T = cv.CreateMat(3, 1, cv.CV_64FC1)
self.R = cv.CreateMat(3, 3, cv.CV_64FC1)
cv.SetIdentity(self.T)
cv.SetIdentity(self.R)
opts = self.mk_object_points(good_l_points)
l_ipts = self.mk_image_points(good_l_corners)
r_ipts = self.mk_image_points(good_r_corners)
npts = self.mk_point_counts(good_l_points)
cv.StereoCalibrate(
opts,
l_ipts,
r_ipts,
npts,
self.l.intrinsics,
self.l.distortion,
self.r.intrinsics,
self.r.distortion,
self.size,
self.R, # R
self.T, # T
cv.CreateMat(3, 3, cv.CV_32FC1), # E
cv.CreateMat(3, 3, cv.CV_32FC1), # F
(cv.CV_TERMCRIT_ITER + cv.CV_TERMCRIT_EPS, 1, 1e-5),
flags)
## print "after cal left intrinsics"
## print numpy.asarray(self.l.intrinsics)
## print "after cal left distortion"
## print numpy.asarray(self.l.distortion)
##
## print "after cal right intrinsics"
## print numpy.asarray(self.r.intrinsics)
## print "after cal right distortion"
## print numpy.asarray(self.r.distortion)
##
## print "after cal R"
## print numpy.asarray(self.R)
## print "after cal T"
## print numpy.asarray(self.T)
cv.StereoRectify(self.l.intrinsics,
self.r.intrinsics,
self.l.distortion,
self.r.distortion,
self.size,
self.R,
self.T,
self.l.R,
self.r.R,
self.l.P,
self.r.P,
alpha=self.alpha)
## print "after rectify left intrinsics"
## print numpy.asarray(self.l.intrinsics)
## print "after rectify left distortion"
## print numpy.asarray(self.l.distortion)
##
## print "after rectify right intrinsics"
## print numpy.asarray(self.r.intrinsics)
## print "after rectify right distortion"
## print numpy.asarray(self.r.distortion)
##
## print "after rectify left R"
## print numpy.asarray(self.l.R)
## print "after rectify left P"
## print numpy.asarray(self.l.P)
## print "after rectify right R"
## print numpy.asarray(self.r.R)
## print "after rectify right P"
## print numpy.asarray(self.r.P)
return (self.l.distortion, self.l.intrinsics, self.l.R, self.l.P,
self.r.distortion, self.r.intrinsics, self.r.R, self.r.P)