fulyvv/pose2sim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

added intrinsic error feedback & solved bug when window closed

Browse Source
This commit is contained in:
davidpagnon 2023-10-10 13:35:57 +02:00
parent 84a429dc67
commit 1e4a40b097
1 changed files with 3 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
Pose2Sim/calibration.py
View File

@ -615,6 +615,8 @@ def calibrate_intrinsics(calib_dir, intrinsics_config_dict):
K.append(mtx)
R.append([0.0, 0.0, 0.0])
T.append([0.0, 0.0, 0.0])
logging.info(f'Intrinsics error: {np.around(ret_cam, decimals=3)} px for each cameras.')
return ret, C, S, D, K, R, T
@ -686,7 +688,7 @@ def calibrate_extrinsics(calib_dir, extrinsics_config_dict, C, S, K, D):
# Calculate extrinsics
mtx, dist = np.array(K[i]), np.array(D[i])
_, r, t = cv2.solvePnP(objp, imgp, mtx, dist)
_, r, t = cv2.solvePnP(np.array(objp), imgp, mtx, dist)
r, t = r.flatten(), t.flatten()
# Projection of object points to image plane