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remove CALIB_FIX_PRINCIPAL_POINT + convert objp to mm to avoid scale mismatch with intrinsics

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davidpagnon 2024-11-14 17:35:59 +01:00
parent eba8cf4ab0
commit 767aeb325a
1 changed files with 3 additions and 2 deletions
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5
Pose2Sim/calibration.py
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@ -610,7 +610,7 @@ def calibrate_intrinsics(calib_dir, intrinsics_config_dict):
img = cv2.imread(str(img_path)) img = cv2.imread(str(img_path))
objpoints = np.array(objpoints) objpoints = np.array(objpoints)
ret_cam, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, img.shape[1::-1], ret_cam, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, img.shape[1::-1],
None, None, flags=(cv2.CALIB_FIX_K3 + cv2.CALIB_FIX_PRINCIPAL_POINT)) None, None, flags=(cv2.CALIB_FIX_K3))# + cv2.CALIB_FIX_PRINCIPAL_POINT))
h, w = [np.float32(i) for i in img.shape[:-1]] h, w = [np.float32(i) for i in img.shape[:-1]]
ret.append(ret_cam) ret.append(ret_cam)
C.append(cam) C.append(cam)
@ -709,8 +709,9 @@ def calibrate_extrinsics(calib_dir, extrinsics_config_dict, C, S, K, D):
# Calculate extrinsics # Calculate extrinsics
mtx, dist = np.array(K[i]), np.array(D[i]) mtx, dist = np.array(K[i]), np.array(D[i])
_, r, t = cv2.solvePnP(np.array(objp), imgp, mtx, dist) _, r, t = cv2.solvePnP(np.array(objp)*1000, imgp, mtx, dist)
r, t = r.flatten(), t.flatten() r, t = r.flatten(), t.flatten()
t /= 1000
# Projection of object points to image plane # Projection of object points to image plane
# # Former way, distortions used to be ignored # # Former way, distortions used to be ignored