calibration.py

# -*- coding: utf-8 -*-

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# You can only use this computer program if you have closed
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# program from someone who is authorized to grant you that right.
# Any use of the computer program without a valid license is prohibited and
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# Copyright©2023 Max-Planck-Gesellschaft zur Förderung
# der Wissenschaften e.V. (MPG). acting on behalf of its Max Planck Institute
# for Intelligent Systems. All rights reserved.
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# Contact: mica@tue.mpg.de

import cv2


def calibrate_extrinsics(world_pts, image_pts, K, dist):
    return cv2.solvePnP(world_pts, image_pts, K, dist)


def calibrate_camera(world_pts, image_pts, image_size, K=None, dist=None, ignore_dist=False):
    flags = 0
    if K is not None:
        flags = (cv2.CALIB_USE_INTRINSIC_GUESS | cv2.CALIB_FIX_ASPECT_RATIO | cv2.CALIB_FIX_PRINCIPAL_POINT)

    if ignore_dist:
        flags |= (cv2.CALIB_ZERO_TANGENT_DIST | cv2.CALIB_FIX_K1 | cv2.CALIB_FIX_K2 | cv2.CALIB_FIX_K3)

    return cv2.calibrateCamera(world_pts, image_pts, image_size, K, dist, flags=flags)