def initGeometryFromObservations(self, observations):
#obtain focal length guess
success = self.geometry.initializeIntrinsics(observations)
if not success:
sm.logError(
"initialization of focal length for cam with topic {0} failed "
.format(self.dataset.topic))
#in case of an omni model, first optimize over intrinsics only
#(--> catch most of the distortion with the projection model)
if self.model == acvb.DistortedOmni:
success = kcc.calibrateIntrinsics(self,
observations,
distortionActive=False)
if not success:
sm.logError(
"initialization of intrinsics for cam with topic {0} failed "
.format(self.dataset.topic))
#optimize for intrinsics & distortion
success = kcc.calibrateIntrinsics(self, observations)
if not success:
sm.logError(
"initialization of intrinsics for cam with topic {0} failed ".
format(self.dataset.topic))
self.isGeometryInitialized = success
return success
def initGeometryFromObservations(self, observations):
#obtain focal length guess
success = self.geometry.initializeIntrinsics(observations)
if not success:
sm.logError("initialization of focal length for cam with topic {0} failed ".format(self.dataset.topic))
#in case of an omni model, first optimize over intrinsics only
#(--> catch most of the distortion with the projection model)
if self.model == acvb.DistortedOmni:
success = kcc.calibrateIntrinsics(self, observations, distortionActive=False)
if not success:
sm.logError("initialization of intrinsics for cam with topic {0} failed ".format(self.dataset.topic))
#optimize for intrinsics & distortion
success = kcc.calibrateIntrinsics(self, observations)
if not success:
sm.logError("initialization of intrinsics for cam with topic {0} failed ".format(self.dataset.topic))
self.isGeometryInitialized = success
return success
