【小贪】Kinect V2相机标定、图像获取、图像处理（Python）

完整项目链接：GitHub - xfliu1998/kinectProject

Kinect V2相机标定

使用张正友标定法对Kinect V2相机标定。原理及参考代码见以下链接：

• 单目相机标定实现–张正友标定法：https://blog.csdn.net/weixin_43763292/article/details/128546103?spm=1001.2014.3001.5506
• python利用opencv进行相机标定(完全版)：https://blog.csdn.net/dgut_guangdian/article/details/107467070?spm=1001.2014.3001.5506
• Kinect2.0-Python调用-PyKinect2：https://blog.csdn.net/zcz0101/article/details/115718427?spm=1001.2014.3001.5506

1. 导入需要的包

import os
import time
import datetime
import glob as gb
import h5py
import keyboard
import cv2
import numpy as np
from utils.calibration import Calibrator
from utils.kinect import Kinect

2. 拍摄不同角度的标定图。取照要求：不同角度不同位置拍摄（10-20）张标定图，棋盘格的视野在整张图的1/4~2/3左右。以下函数默认拍摄20张图，按空格键拍摄照片，按q键结束拍摄，拍的标定图会保存到指定路径。

def get_chess_image(image_num=20):
    out_path = './data/chess/'
    if not os.path.exists(out_path):
        os.makedirs(out_path)
    camera = cv2.VideoCapture(0)
    i = 0
    while 1:
        (grabbed, img) = camera.read()
        cv2.imshow('img', img)
        if cv2.waitKey(1) & keyboard.is_pressed('space'):  # press space to save an image
            i += 1
            firename = str(f'{
     out_path}img{
     str(i)}.jpg')
            cv2.imwrite(firename, img)
            print('write: ', firename)
        if cv2.waitKey(1) & 0xFF == ord('q') or i == image_num:  # press q to finish
            break

3. 对相机标定。函数将相机的内参和畸变系数输出至指定路径，同时可以获得每张标定图的外参矩阵。函数需要用到标定类，代码在utils包中。

def camera_calibrator(shape_inner_corner=(11, 8), size_grid=0.025):
    '''
    :param shape_inner_corner: checkerboard size = 12*9
    :param size_grid: the length of the sides of the checkerboard = 25mm
    '''
    chess_dir = "./data/chess"
    out_path = "./data/dedistortion/chess"
    if not os.path.exists(out_path):
        os.makedirs(out_path)
    # create calibrator
    calibrator = Calibrator(chess_dir, shape_inner_corner, size_grid)
    # calibrate the camera
    mat_intri, coff_dis = calibrator.calibrate_camera()
    np.save('./data/intrinsic_matrix.npy', mat_intri)
    np.save('./data/distortion_cofficients.npy', coff_dis)
    print("intrinsic matrix: \n {}".format(mat_intri))
    print("distortion cofficients: \n {}".format(coff_dis))  # (k_1, k_2, p_1, p_2, k_3)
    # dedistortion
    calibrator.dedistortion(chess_dir, out_path)
    return mat_intri, coff_dis

import os
import glob
import cv2
import numpy as np


class Calibrator(object):
    def __init__(self, img_dir, shape_inner_corner, size_grid, visualization=True):
        """
        --parameters--
        img_dir: the directory that save images for calibration, str
        shape_inner_corner: the shape of inner corner, Array of int, (h, w)
        size_grid: the real size of a grid in calibrator, float
        visualization: whether visualization, bool
        """
        self.img_dir = img_dir
        self.shape_inner_corner = shape_inner_corner
        self.size_grid = size_grid
        self.visualization = visualization
        self.mat_intri = None   # intrinsic matrix
        self.coff_dis = None    # cofficients of distortion

        # create the conner in world space
        w, h = shape_inner_corner
        # cp_int: save the coordinate of corner points in world space in 'int' form. like (0,0,0), ...., (10,7,0)
        cp_int = np.zeros((w * h, 3), np.float32)
        cp_int[:, :2] = np.mgrid[0:w, 0:h].T.reshape(-1, 2)
        # cp_world: corner point in world space, save the coordinate of corner points in world space
        self.cp_world = cp_int * size_grid

        # images
        self.img_paths = []
        for extension in ["jpg", "png", "jpeg"]:
            self.img_paths += glob.glob(os.path.join(img_dir, "*.{}".format(extension)))
        assert len(self.img_paths), "No images for calibration found!"

    def calibrate_camera(self):
        w, h = self.shape_inner_corner
        # criteria: only for subpix calibration, which is not used here
        # criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
        points_world = []   # the points in world space
        points_pixel = []   # the points in pixel space (relevant to points_world)
        for img_path in self.img_paths:
            img = cv2.imread(img_path)
            gray_img = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
            # find the corners, cp_img: corner points in pixel space
            ret, cp_img = cv2.findChessboardCorners(gray_img, (w, h), None)
            # if ret is True, save
            if ret:
                # cv2.cornerSubPix(gray_img, cp_img, (11,11), (-1,-1), criteria)
                points_world.append(self.cp_world)
                points_pixel.append(cp_img)
                # view the corners
                if self.visualization:
                    cv2.drawChessboardCorners(img, (w, h), cp_img, ret)
                    _, img_name = os.path.split(img_path)
                    cv2.imwrite(os.path.join(self.img_dir, f"dedistortion/coner_detect/{
     img_name}"), img)
                    cv2.imshow('FoundCorners', img)
                    cv2.waitKey(500)

        # calibrate the camera
        ret