python 相机标定

参考：https://opencv-python-tutroals.readthedocs.io/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html?highlight=findchessboardcorners

import numpy as np
import cv2
import matplotlib.image as mpimg
import glob
from PIL import Image

def calib():
    """
    To get an undistorted image, we need camera matrix & distortion coefficient
    Calculate them with 9*6 20 chessboard images
    """
    criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
    # Read in and make a list of calibration images
　　images = glob.glob('../lane_detection/camera_cal/src/calibration*.jpg')
    # Array to store object points and image points from all the images
    objpoints = []  # 3D points in real world space
    imgpoints = []  # 2D points in image plane

    # Prepare object points
    objp = np.zeros((9* 6, 3), np.float32)#src and mah
    objp[:, :2] = np.mgrid[0:6, 0:9].T.reshape(-1, 2)  # x,y coordinates
    
    for fname in images:
        img = cv2.imread(fname)

        # Convert to grayscale
        gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
        # Find the chessboard corners
        ret, corners = cv2.findChessboardCorners(gray, (6,9), None)
      
        # If corners are found, add object points, image points
        if ret is True:
            corners2 = cv2.cornerSubPix(gray, corners, (11, 11), (-1, -1), criteria)
            imgpoints.append(corners2)
            objpoints.append(objp)

    ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)

    
    return mtx, dist


def undistort(img, mtx, dist):
    """ undistort image """
    frame_undistorted = cv2.undistort(img, mtx, dist, None, mtx)
    return frame_undistorted

参考：https://blog.csdn.net/firemicrocosm/article/details/48594897 

注意标定的图片分辨率和后面使用的图片或视频分辨率相同