VSLAM实践(一):基于python+opencv的后置相机拍照模式内参标定
本文采用棋盘标定板标定法,实现对后置相机拍照模式内参的标定,棋盘单个黑框的边长为2cm,一共通过不同角度拍摄了10张照片;
代码:
# -*- coding:utf-8 -*-
import cv2
import numpy as np
import glob
# 设置寻找亚像素角点的参数,采用的停止准则是最大循环次数30和最大误差容限0.001
criteria = (cv2.TERM_CRITERIA_MAX_ITER | cv2.TERM_CRITERIA_EPS, 30, 0.001)
# 获取标定板角点的位置
objp = np.zeros((8 * 6, 3), np.float32)
objp[:, :2] = np.mgrid[0:16:8j, 0:12:6j].T.reshape(-1, 2) # 将世界坐标系建在标定板上,所有点的Z坐标全部为0,所以只需要赋值x和y
obj_points = [] # 存储3D点
img_points = [] # 存储2D点
images = glob.glob("*.jpg")
for fname in images:
img = cv2.imread(fname)
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
size = gray.shape[::-1]
ret, corners = cv2.findChessboardCorners(gray, (8, 6), None)
print(size)
if ret:
obj_points.append(objp)
corners2 = cv2.cornerSubPix(gray, corners, (5, 5), (-1, -1), criteria) # 在原角点的基础上寻找亚像素角点
if corners2.any:
img_points.append(corners2)
else:
img_points.append(corners)
cv2.drawChessboardCorners(img, (8, 6), corners, ret) # 记住,OpenCV的绘制函数一般无返回值
cv2.namedWindow('img', 30)
cv2.imshow('img', img)
cv2.waitKey()
print(len(img_points))
cv2.destroyAllWindows()
# 标定
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(obj_points, img_points, size, None, None)
print("ret:", ret)
print("mtx:\n", mtx ) # 内参数矩阵
print("dist:\n", dist) # 畸变系数 distortion cofficients = (k_1,k_2,p_1,p_2,k_3)
print("rvecs:\n", rvecs) # 旋转向量 # 外参数
print("tvecs:\n", tvecs) # 平移向量 # 外参数
print("-------------------计算反向投影误差-----------------------")
tot_error = 0
for i in range(len(obj_points)):
img_points2, _ = cv2.projectPoints(obj_points[i], rvecs[i], tvecs[i], mtx, dist)
error = cv2.norm(img_points[i], img_points2, cv2.NORM_L2) / len(img_points2) #像素坐标的方差
tot_error += error
mean_error = tot_error / len(obj_points)
print("total error: ", tot_error) #13.38
print("mean error: ", mean_error) #1.34
#鉴于Iphone6s相机分辨率为3024*4032,1.34的平均重投影像素误差自己感觉基本可以接受
最终相机内参结果为:
后续VSLAM将会以此内参作为标准输入,来进行相机位姿及地图坐标的求解。