def
__init__
(self):
#
左相机内参
self.cam_matrix_left = np.array([[996.203302939305, -0.623047033252807, 588.670199625865
],
[0,
996.317135079095, 373.780685618595
],
[0, 0,
1
]])
#
右相机内参
self.cam_matrix_right = np.array([[991.718946669437, -0.0907540625530892, 624.408161711083
],
[0,
991.720854573884, 370.420436667102
],
[0, 0,
1
]])
#
左右相机畸变系数：[k1, k2, p1, p2, k3]
self.distortion_l = np.array([[-0.451000919444727, 0.233773017190369, -0.000235517122247992, -0.00107206555811668
, 0]])
self.distortion_r
= np.array([[-0.449248394437632, 0.247393036690202, -0.0000349078939884892, -0.0000547393740792125
, 0]])
#
旋转矩阵
self.R = np.matrix([[1, 0.00161382047916743, 0.00530724206543221
],
[
-0.00156777683550538, 1, -0.00866837204274770
],
[
-0.00532102534048900, 0.00865991810229502, 0.999948344919770
]])
#
平移矩阵
self.T = np.array([[63.4813645248768], [0.300383582551749], [-0.343160895064395
]])
#
主点列坐标的差
#
cx1-cx0，
self.doffs = 35.738
#
指示上述内外参是否为经过立体校正后的结果
self.isRectified = False
