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stereoConfig.py
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# -*- coding: utf-8 -*-
"""
Created on Sat Oct 1 20:17:47 2022
@author: lenovo
"""
# -*- coding: utf-8 -*-
# @Time : 2022/3/25 16:06
# @Author : Zhang Jun
# @File : stereoConfig.py
# @Software: PyCharm
import numpy as np
####################仅仅是一个示例###################################
# 双目相机参数
class stereoCamera(object):
def __init__(self):
# 左相机内参(已改)
self.cam_matrix_left = np.array([[7.372711487536764e+02, 0,6.202947387364632e+02],
[0., 7.357936742279408e+02, 3.400548535216879e+02],
[0., 0., 1.]])
# 右相机内参（已改）
self.cam_matrix_right = np.array([[7.342419838786009e+02, 0, 6.088782690997340e+02],
[0., 7.329442497556776e+02,3.374334410011336e+02],
[0., 0., 1.]])
# 左右相机畸变系数:[k1, k2, p1, p2, k3]（已换）
self.distortion_l = np.array([[0.089937521302425, -0.008605012820637, -1.422054811710335e-04, 0.002784607837870,-0.196354738921342]])
self.distortion_r = np.array([[0.076447346943265, 0.088843534383102,1.441249730313277e-04, 0.002824182354917,-0.365044917892326]])
# 旋转矩阵（已改）
self.R = np.array([[0.999958460819669, 0.001988053535107,0.008895182870510],
[ -0.001967217636689, 0.999995302551878, -0.002350516740654],
[-0.008899814038965,0.002332920341491, 0.999957674500652]])
# 平移矩阵（已改）
self.T = np.array([[-59.779882896526246], [-0.121031263411344], [-0.002428898329554]])
# 主点列坐标的差
self.doffs = 0.0
# 指示上述内外参是否为经过立体校正后的结果
self.isRectified = False
# def setMiddleBurryParams(self):
# self.cam_matrix_left = np.array([[3997.684, 0, 225.0],
# [0., 3997.684, 187.5],
# [0., 0., 1.]])
# self.cam_matrix_right = np.array([[3997.684, 0, 225.0],
# [0., 3997.684, 187.5],
# [0., 0., 1.]])
# self.distortion_l = np.zeros(shape=(5, 1), dtype=np.float64)
# self.distortion_r = np.zeros(shape=(5, 1), dtype=np.float64)
# self.R = np.identity(3, dtype=np.float64)
# self.T = np.array([[-193.001], [0.0], [0.0]])
# self.doffs = 131.111
# self.isRectified = True
def setMiddleBurryParams(self):
self.cam_matrix_left = np.array([[7.372711487536764e+02, 0,6.202947387364632e+02],
[0., 7.357936742279408e+02, 3.400548535216879e+02],
[0., 0., 1.]])
self.cam_matrix_right = np.array([[7.342419838786009e+02, 0, 6.088782690997340e+02],
[0., 7.329442497556776e+02,3.374334410011336e+02],
[0., 0., 1.]])
self.distortion_l = np.zeros(shape=(5, 1), dtype=np.float64)
self.distortion_r = np.zeros(shape=(5, 1), dtype=np.float64)
self.R = np.identity(3, dtype=np.float64)
self.T = np.array([[-59.779882896526246], [-0.121031263411344], [-0.002428898329554]])
self.doffs = 131.111
self.isRectified = True