Bugfix Type in intrinsics_guess in calibration.py

bob/ip/stereo/calibration.py

@@ -336,6 +336,7 @@ def create_3Dpoints(pattern_size, square_size):
     object_points *= square_size
     return object_points
 
+
 def get_valid_frames_for_intrinsic_calibration(detection_df, camera, pattern_type):
     """Filters the detection df to keep only the frames that allow to estimate the intrinsic parameters of `camera`.
 
@@ -475,16 +476,10 @@ def compute_intrinsics(im_pts, image_size, params, obj_pts=None, ids=None, charu
     cam_m, dist_coefs = None, None
     if params["use_intrinsic_guess"]:
         flags += cv2.CALIB_USE_INTRINSIC_GUESS
-        fx, fy = params["intrinsic_guess"]["f"]
-        cx, cy = params["intrinsic_guess"]["center_point"]
-        dist_coefs = params["intrinsic_guess"]["dist_coefs"]
-        cam_m = np.array(
-            [
-                [fx, 0, cx],
-                [0, fy, cy],
-                [0, 0, 1],
-            ]
-        )
+        fx, fy = params["intrinsics_guess"]["f"]
+        cx, cy = params["intrinsics_guess"]["center_point"]
+        dist_coefs = np.array(params["intrinsics_guess"]["dist_coefs"])
+        cam_m = np.array([[fx, 0, cx], [0, fy, cy], [0, 0, 1],])
     if params["fix_aspect_ratio"]:
         flags += cv2.CALIB_FIX_ASPECT_RATIO
     if params["fix_center_point"]: