相机标定

12*9

25*25的棋盘格 

抄的opencv官网代码：
https://opencv-python-tutroals.readthedocs.io/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html

# python3.8
# -*- coding: utf-8 -*-
# ---
# @Software: PyCharm
# @File: camera_calibration.py
# @Author: ---
# @Institution: BeiJing, China
# @E-mail: lgdyangninghua@163.com
# @Site: 
# @Time: 5月 14, 2021
# ---
# Import required modules
import cv2
import numpy as np
np.set_printoptions(suppress=True)
import os
import glob

# Define the dimensions of checkerboard
CHECKERBOARD = (11, 8)

# stop the iteration when specified
# accuracy, epsilon, is reached or
# specified number of iterations are completed.
criteria = (cv2.TERM_CRITERIA_EPS +
            cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)

# Vector for 3D points
threedpoints = []

# Vector for 2D points
twodpoints = []

#  3D points real world coordinates
objectp3d = np.zeros((1, CHECKERBOARD[0]
                      * CHECKERBOARD[1],
                      3), np.float32)
objectp3d[0, :, :2] = np.mgrid[0:CHECKERBOARD[0],
                      0:CHECKERBOARD[1]].T.reshape(-1, 2)

objectp3d *= 25

prev_img_shape = None

# Extracting path of individual image stored
# in a given directory. Since no path is
# specified, it will take current directory
# jpg files alone
images = glob.glob('gray/data/1/*.png')

for filename in images:
    image = cv2.imread(filename)
    grayColor = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
    name = os.path.basename(filename)

    # Find the chess board corners
    # If desired number of corners are
    # found in the image then ret = true
    ret, corners = cv2.findChessboardCorners(
        grayColor, CHECKERBOARD,
        cv2.CALIB_CB_ADAPTIVE_THRESH
        + cv2.CALIB_CB_FAST_CHECK +
        cv2.CALIB_CB_NORMALIZE_IMAGE)

    # If desired number of corners can be detected then,
    # refine the pixel coordinates and display
    # them on the images of checker board
    if ret == True:
        threedpoints.append(objectp3d)

        # Refining pixel coordinates
        # for given 2d points.
        corners2 = cv2.cornerSubPix(
            grayColor, corners, (11, 11), (-1, -1), criteria)

        twodpoints.append(corners2)

        # Draw and display the corners
        image = cv2.drawChessboardCorners(image,
                                          CHECKERBOARD,
                                          corners2, ret)

        cv2.imwrite(os.path.join("./result", name), image)
        #cv2.imshow('img', image)
        #cv2.waitKey(0)

#cv2.destroyAllWindows()

h, w = image.shape[:2]

# Perform camera calibration by
# passing the value of above found out 3D points (threedpoints)
# and its corresponding pixel coordinates of the
# detected corners (twodpoints)
ret, matrix, distortion, r_vecs, t_vecs = cv2.calibrateCamera(
    threedpoints, twodpoints, grayColor.shape[::-1], None, None)

# Displayig required output
print(" Camera matrix:")
print(matrix)

print("\n Distortion coefficient:")
print(distortion)

print("\n Rotation Vectors:")
print(r_vecs)

print("\n Translation Vectors:")
print(t_vecs)