fulyvv/EasyMocap
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

[calib] update calib_intri

Browse Source
This commit is contained in:
sq-titanv 2022-12-05 22:23:23 +08:00
parent 076d2fa834
commit 72e7c1ec6f
1 changed files with 14 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
apps/calibration/calib_intri.py
View File

@ -2,13 +2,13 @@
@ Date: 2021-03-02 16:12:59 @ Date: 2021-03-02 16:12:59
@ Author: Qing Shuai @ Author: Qing Shuai
@ LastEditors: Qing Shuai @ LastEditors: Qing Shuai
@ LastEditTime: 2022-08-10 16:27:17 @ LastEditTime: 2022-10-11 16:36:12
@ FilePath: /EasyMocapPublic/apps/calibration/calib_intri.py @ FilePath: /EasyMocapPublic/apps/calibration/calib_intri.py
''' '''
# This script calibrate each intrinsic parameters # This script calibrate each intrinsic parameters
import shutil import shutil
import random import random
from easymocap.mytools.debug_utils import mywarn from easymocap.mytools.debug_utils import log, mywarn
from easymocap.mytools.vis_base import plot_points2d from easymocap.mytools.vis_base import plot_points2d
from easymocap.mytools import write_intri, read_json, Timer from easymocap.mytools import write_intri, read_json, Timer
import numpy as np import numpy as np
@ -81,6 +81,8 @@ def load_chessboards(chessnames, imagenames, max_image, sample_image=-1, out='de
valid_idx = [valid_idx[i] for i in index_sample] valid_idx = [valid_idx[i] for i in index_sample]
k2ds_ = [k2ds_[i] for i in index_sample] k2ds_ = [k2ds_[i] for i in index_sample]
k3ds_ = [k3ds_[i] for i in index_sample] k3ds_ = [k3ds_[i] for i in index_sample]
else:
log('[calibration] Load {} images'.format(len(k3ds_)))
for ii, idx in enumerate(valid_idx): for ii, idx in enumerate(valid_idx):
shutil.copyfile(imagenames[idx], join(out, '{:06d}.jpg'.format(ii))) shutil.copyfile(imagenames[idx], join(out, '{:06d}.jpg'.format(ii)))
return k3ds_, k2ds_ return k3ds_, k2ds_
@ -106,6 +108,16 @@ def calib_intri_share(path, image, ext):
'K': K, 'K': K,
'dist': dist # dist: (1, 5) 'dist': dist # dist: (1, 5)
} }
if True:
img = cv2.imread(imagenames[0])
h, w = img.shape[:2]
newcameramtx, roi = cv2.getOptimalNewCameraMatrix(K, dist, (w,h), 1, (w,h))
mapx, mapy = cv2.initUndistortRectifyMap(K, dist, None, newcameramtx, (w,h), 5)
for imgname in tqdm(imagenames):
img = cv2.imread(imgname)
dst = cv2.remap(img, mapx, mapy, cv2.INTER_LINEAR)
outname = join(path, 'output', os.path.basename(imgname))
cv2.imwrite(outname, dst)
write_intri(join(path, 'output', 'intri.yml'), cameras) write_intri(join(path, 'output', 'intri.yml'), cameras)
def calib_intri(path, image, ext): def calib_intri(path, image, ext):