opencv 棋盘标定

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本文链接：http://blog.csdn.net/Thomson617/article/details/103506391

代码记录

import cv2
import numpy as np


def calibrate_single(imgNums, CheckerboardSize, Nx_cor, Ny_cor, saveFile=False, saveImages=False):
    """
    单目(普通+广角/鱼眼)摄像头标定
    :param imgNums: 标定所需样本数,一般在20~40之间.按键盘空格键实时拍摄
    :param CheckerboardSize: 标定的棋盘格尺寸,必须为整数.(单位:mm或0.1mm)
    :param Nx_cor: 棋盘格横向内角数
    :param Ny_cor: 棋盘格纵向内角数
    :param saveFile: 是否保存标定结果,默认不保存.
    :param saveImages: 是否保存图片,默认不保存.
    :return mtx: 内参数矩阵.{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}
    :return dist: 畸变系数.(k_1,k_2,p_1,p_2,k_3)
    """
    # 找棋盘格角点(角点精准化迭代过程的终止条件)
    criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, CheckerboardSize, 1e-6)  # (3,27,1e-6)
    flags = cv2.CALIB_CB_ADAPTIVE_THRESH + cv2.CALIB_CB_FAST_CHECK + cv2.CALIB_CB_NORMALIZE_IMAGE  # 11
    flags_fisheye = cv2.fisheye.CALIB_RECOMPUTE_EXTRINSIC + cv2.fisheye.CALIB_CHECK_COND + cv2.fisheye.CALIB_FIX_SKEW  # 14

    # 世界坐标系中的棋盘格点,例如(0,0,0), (1,0,0), (2,0,0) ....,(8,5,0)
    objp = np.zeros((1, Nx_cor * Ny_cor, 3), np.float32)
    objp[0, :, :2] = np.mgrid[0:Nx_cor, 0:Ny_cor].T.reshape(-1, 2)

    # 储存棋盘格角点的世界坐标和图像坐标对
    objpoints = []  # 在世界坐标系中的三维点
    imgpoints = []  # 在图像平面的二维点

    count = 0  # 用来标志成功检测到的棋盘格画面数量

    while (True):
        ret, frame = cap.read()
        # frame = cv2.resize(frame, imageSize)
        cv2.imshow('frame', frame)

        if cv2.waitKey(1) & 0xFF == ord(' '):
            gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
            # 寻找棋盘格模板的角点
            ok, corners = cv2.findChessboardCorners(gray, (Nx_cor, Ny_cor), flags)
            if count >= imgNums:
                break
            if ok:  # 如果找到，添加目标点，图像点
                objpoints.append(objp)
                cv2.cornerSubPix(gray, corners, (5, 5), (-1, -1), criteria)  # 获取更精确的角点位置
                imgpoints.append(corners)

                # 将角点在图像上显示
                cv2.drawChessboardCorners(frame, (Nx_cor, Ny_cor), corners, ok)
                count += 1
                if saveImages:
                    cv2.imwrite('./images/save/' + str(count) + '.jpg', frame)
                print('NO.' + str(count))

        if cv2.waitKey(1) & 0xFF == ord('q'):
            break
    global mtx, dist

    # 标定. rvec和tvec是在获取了相机内参mtx,dist之后通过内部调用solvePnPRansac()函数获得的
    # ret为标定结果，mtx为内参数矩阵，dist为畸变系数，rvecs为旋转矩阵，tvecs为平移向量
    ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(
        objpoints, imgpoints, gray.shape[:2][::-1], None, criteria
    )
    # 摄像头内参mtx = [[f_x,0,c_x][0,f_y,c_y][0,0,1]]
    print('mtx=np.array( ' + str(mtx.tolist()) + " )")
    # 畸变系数dist = (k1,k2,p1,p2,k3)
    print('dist=np.array( ' + str(dist.tolist()) + " )")

    # 鱼眼/大广角镜头的单目标定
    K = np.zeros((3, 3))
    D = np.zeros((4, 1))
    RR = [np.zeros((1, 1, 3), dtype=np.float64) for i in range(len(objpoints))]
    TT = [np.zeros((1, 1, 3), dtype=np.float64) for i in range(len(objpoints))]
    rms, _, _, _, _ = cv2.fisheye.calibrate(
        objpoints, imgpoints, gray.shape[:2][::-1], K, D, RR, TT, flags_fisheye, criteria
    )
    # 摄像头内参,此结果与mtx相比更为稳定和精确
    print("K=np.array( " + str(K.tolist()) + " )")
    # 畸变系数D = (k1,k2,k3,k4)
    print("D=np.array( " + str(D.tolist()) + " )")
    # 计算反投影误差
    mean_error = 0
    for i in range(len(objpoints)):
        imgpoints2, _ = cv2.projectPoints(objpoints[i], rvecs[i], tvecs[i], mtx, dist)
        error = cv2.norm(imgpoints[i], imgpoints2, cv2.NORM_L2) / len(imgpoints2)
        mean_error += error
    print("total error: ", mean_error / len(objpoints))

    if saveFile:
        np.savez("./calibrate_5.npz", mtx=mtx, dist=dist, K=K, D=D)
    cv2.destroyAllWindows()
    return mtx, dist, K, D


if __name__ == '__main__':
    cam = 5
    cap = cv2.VideoCapture(cam)
    cap.set(3, 1280)  # 设置分辨率
    cap.set(4, 960)
    mtx, dist, K, D = calibrate_single(20, 18, 9, 6, saveFile=True, saveImages=True)

    width, height = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH)), int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
    p = cv2.fisheye.estimateNewCameraMatrixForUndistortRectify(K, D, (width, height), None)
    mapx2, mapy2 = cv2.fisheye.initUndistortRectifyMap(K, D, None, p, (width, height), cv2.CV_32F)
    while True:
        ret, frame = cap.read()
        cv2.imshow('raw', frame)
        frame_re = cv2.remap(frame, mapx2, mapy2,
                             interpolation=cv2.INTER_LINEAR,
                             borderMode=cv2.BORDER_CONSTANT)
        cv2.imshow('Reo', frame_re)
        if cv2.waitKey(1) & 0xFF == ord('q'):
            break

    cap.release()
    cv2.destroyAllWindows()