Camera Calibration 利用openCV-python 进行相机校准

利用OpenCV相机校准

参考之前做的ppt，已经导出为图片：
我们可以看到，首先需要准备一个chessboard的图片，然后从多角度对图片进行拍摄（注意尽量让图片周围不要有容易混淆的颜色）

然后从多个角度进行拍摄，拍摄后文件放到一个文件夹内即可。

下面来看python代码，注释已经比较详尽：

import cv2
import numpy as np
import os
import glob

# Defining the dimensions of checkerboard
CHECKERBOARD = (7,5)
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)

# Creating vector to store vectors of 3D points for each checkerboard image
objpoints = []
# Creating vector to store vectors of 2D points for each checkerboard image
imgpoints = [] 


# Defining the world coordinates for 3D points
objp = np.zeros((1, CHECKERBOARD[0]*CHECKERBOARD[1], 3), np.float32)
objp[0,:,:2] = np.mgrid[0:CHECKERBOARD[0], 0:CHECKERBOARD[1]].T.reshape(-1, 2)
prev_img_shape = None

# Extracting path of individual image stored in a given directory
images = glob.glob('/*.jpg')
for fname in images:
    img = cv2.imread(fname)
    gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
    # Find the chess board corners
    # If desired number of corners are found in the image then ret = true
    ret, corners = cv2.findChessboardCorners(gray, CHECKERBOARD, cv2.CALIB_CB_ADAPTIVE_THRESH+
    	cv2.CALIB_CB_FAST_CHECK+cv2.CALIB_CB_NORMALIZE_IMAGE)
    
    """
    If desired number of corner are detected,
    we refine the pixel coordinates and display 
    them on the images of checker board
    """
    if ret == True:
        objpoints.append(objp)
        # refining pixel coordinates for given 2d points.
        corners2 = cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria)
        
        imgpoints.append(corners2)

        # Draw and display the corners
        img = cv2.drawChessboardCorners(img, CHECKERBOARD, corners2,ret)
    
    cv2.imshow('img',img)
    cv2.waitKey(0)

cv2.destroyAllWindows()

h,w = img.shape[:2]

"""
Performing camera calibration by 
passing the value of known 3D points (objpoints)
and corresponding pixel coordinates of the 
detected corners (imgpoints)
"""
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1],None,None)

print("Camera matrix : \n")
print(mtx)
print("dist : \n")
print(dist)
print("rvecs : \n")
print(rvecs)
print("tvecs : \n")
print(tvecs)

需要注意：

注意输入棋盘的尺寸，我们一般取棋盘横纵行数-1。例如图例中的期盼图片是6x8，输入为5x7

结果

输出图例：

最后返回的输出中，mtx即为相机的内参矩阵，其标准形式为：

fx，fy分别为相机在x，y 轴上的焦距，cx，cy 为在两个轴上的偏移量。
输出样例：

此方法输出的为定焦的相机，例如一般的笔记本前置摄像头。

相机校准非常的基础，在我们以后的实践中经常会用到相机校准得到的几个参数。