From b61cf6b855c0a30e1dcc24d146b19dabdf25f15a Mon Sep 17 00:00:00 2001 From: nindanaoto Date: Thu, 14 Oct 2021 13:26:55 +0900 Subject: [PATCH] Added extractions of Distortion Coefficients and the intrinsics matrix of the right camera --- examples/calibration_reader.py | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/examples/calibration_reader.py b/examples/calibration_reader.py index 044844aa5..b4eb82528 100755 --- a/examples/calibration_reader.py +++ b/examples/calibration_reader.py @@ -26,6 +26,18 @@ print("LEFT Camera resized intrinsics...") print(M_left) + D_left = np.array(calibData.getDistortionCoefficients(dai.CameraBoardSocket.LEFT)) + print("LEFT Distortion Coefficients...") + [print(name+": "+value) for (name, value) in zip(["k1","k2","p1","p2","k3","k4","k5","k6","s1","s2","s3","s4","τx","τy"],[str(data) for data in D_left])] + + M_right = np.array(calibData.getCameraIntrinsics(dai.CameraBoardSocket.RIGHT, 1280, 720)) + print("RIGHT Camera resized intrinsics...") + print(M_right) + + D_right = np.array(calibData.getDistortionCoefficients(dai.CameraBoardSocket.RIGHT)) + print("RIGHT Distortion Coefficients...") + [print(name+": "+value) for (name, value) in zip(["k1","k2","p1","p2","k3","k4","k5","k6","s1","s2","s3","s4","τx","τy"],[str(data) for data in D_right])] + print(f"RGB FOV {calibData.getFov(dai.CameraBoardSocket.RGB)}, Mono FOV {calibData.getFov(dai.CameraBoardSocket.LEFT)}") R1 = np.array(calibData.getStereoLeftRectificationRotation())