debug_intrinsics_estimation.py

import logging
import cv2

from camera_intrinsics_estimation import Camera_Intrinsics_Estimation

logger = logging.getLogger(__name__)


class Camera_Intrinsics_Estimation_Debug(Camera_Intrinsics_Estimation):
    def recent_events(self, events):
        frame = events.get("frame")
        if not frame:
            return
        if self.collect_new:
            img = frame.img
            try:
                status, grid_points = cv2.findCirclesGrid(
                    img, (4, 11), flags=cv2.CALIB_CB_ASYMMETRIC_GRID
                )
            except cv2.error:
                logger.exception(
                    f"Exception in cv2.findCirclesGrid() using shape={img.shape!r} "
                    f"dtype={img.dtype!r}"
                )
                return
            if status:
                self.img_points.append(grid_points)
                self.obj_points.append(self.obj_grid)
                self.collect_new = False
                self.count -= 1
                self.button.status_text = "{:d} to go".format(self.count)

        if self.count <= 0 and not self.calculated:
            self.calculate()
            self.button.status_text = ""

        if self.window_should_close:
            self.close_window()

        if self.show_undistortion:
            assert self.g_pool.capture.intrinsics
            # This function is not yet compatible with the fisheye camera model and would have to be manually implemented.
            # adjusted_k,roi = cv2.getOptimalNewCameraMatrix(cameraMatrix= np.array(self.camera_intrinsics[0]), distCoeffs=np.array(self.camera_intrinsics[1]), imageSize=self.camera_intrinsics[2], alpha=0.5,newImgSize=self.camera_intrinsics[2],centerPrincipalPoint=1)
            self.undist_img = self.g_pool.capture.intrinsics.undistort(frame.img)