【单目摄像头测量距离：相似三角形法】

已知一点经纬度和距离，计算另一点的经纬度，详见： https://blog.csdn.net/qq_41694461/article/details/123130094.

用相似三角形法目标到相机的距离

计算相机焦距

目前摄像机大多数都是自动对焦的，所以我们第一步就要求出相机焦距，公式如下：
f = （w*L)/W
f = (h*L)/H

f：镜头焦距
w：图象的宽度(被摄物体在ccd靶面上成象宽度即目标的像素宽度)
W：被摄物体宽度
L：被摄物体至镜头的距离
h：图象高度(被摄物体在ccd靶面上成像高度)视场(摄取场景)高度
H：被摄物体的高度

ccd靶面规格尺寸	单位mm
规格	W　　　 H
1/3"	4.8　　　　3.6
1/2"	6.4　　　　4.8
2/3"	8.8　　　　6.6
1"	12.7　　　　9.6

摄像机画面宽度和高度与监视器接收机画面宽度和高度一样，其比例均为4:3,当L不变，H或W增大时，f变小，当H或W不变，L增大时，f增大。
eg：假设我在离相机距离 D = 24 英寸的地方放一张标准的 8.5 x 11 英寸的 A4 纸（横着放；W = 11）并且拍下一张照片。我测量出照片中 A4 纸的像素宽度为 P = 249 像素。
因此我的焦距 F 是：

F = (248px x 24in) / 11in = 543.45

假设我将相机移到距离目标 3 英尺（或者说 36 英寸）的地方并且拍下上述的 A4 纸。通过自动的图形处理我可以获得图片中 A4 纸的像素距离为 170 像素。将这个代入公式得：
像素距离：即目标在图像中的宽度/高度
D’ = (11in x 543.45) / 170 = 35 英寸

我们可以看到，要想得到距离，我们就要知道摄像头的焦距和目标物体的尺寸大小，这两个已知条件根据公式：　　
D’ = (W x F) / P

代码实现

PYthon代码实现：

# import the necessary packages
import numpy as np
import cv2


# 找到目标函数
def find_marker(image):
    # convert the image to grayscale, blur it, and detect edges
    gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
    gray = cv2.GaussianBlur(gray, (5, 5), 0)
    edged = cv2.Canny(gray, 35, 125)

    # find the contours in the edged image and keep the largest one;
    # we'll assume that this is our piece of paper in the image
    (cnts, _) = cv2.findContours(edged.copy(), cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
    # 求最大面积
    c = max(cnts, key=cv2.contourArea)

    # compute the bounding box of the of the paper region and return it
    # cv2.minAreaRect() c代表点集，返回rect[0]是最小外接矩形中心点坐标，
    # rect[1][0]是width，rect[1][1]是height，rect[2]是角度
    return cv2.minAreaRect(c)


# 距离计算函数
def distance_to_camera(knownWidth, focalLength, perWidth):
    # compute and return the distance from the maker to the camera
    return (knownWidth * focalLength) / perWidth


# initialize the known distance from the camera to the object, which
# in this case is 24 inches
KNOWN_DISTANCE = 18.11

# initialize the known object width, which in this case, the piece of
# paper is 11 inches wide
# A4纸的长和宽(单位:inches)
KNOWN_WIDTH = 11.69
KNOWN_HEIGHT = 8.27

# initialize the list of images that we'll be using
IMAGE_PATHS = ["img.png", "img_1.png", "Picture3.jpg"]

# load the furst image that contains an object that is KNOWN TO BE 2 feet
# from our camera, then find the paper marker in the image, and initialize
# the focal length
# 读入第一张图，通过已知距离计算相机焦距
image = cv2.imread(IMAGE_PATHS[0])
print(image.shape)
marker = find_marker(image)
print(marker[1][0])
focalLength = (marker[1][0] * KNOWN_DISTANCE) / KNOWN_WIDTH

# 通过摄像头标定获取的像素焦距
# focalLength = 811.82
print('focalLength = ', focalLength)

# 打开摄像头
camera = cv2.VideoCapture(0)

while camera.isOpened():
    # get a frame
    (grabbed, frame) = camera.read()
    marker = find_marker(frame)
    if marker == 0:
        print(marker)
        continue
    # focalLength = (marker[1][0] * KNOWN_DISTANCE) / KNOWN_WIDTH
    inches = distance_to_camera(KNOWN_WIDTH, focalLength, marker[1][0])
    print("a4值得宽",KNOWN_WIDTH, focalLength, marker[1][0], inches)

    # draw a bounding box around the image and display it
    # box = np.int0(cv2.cv.BoxPoints(marker))
    box = cv2.boxPoints(marker)
    box = np.int0(box)
    cv2.drawContours(frame, [box], -1, (0, 255, 0), 2)

    # inches 转换为 cm
    cv2.putText(frame, "%.2fcm" % (inches * 30.48 / 12),
                (frame.shape[1] - 200, frame.shape[0] - 20), cv2.FONT_HERSHEY_SIMPLEX,
                2.0, (0, 255, 0), 3)

    # show a frame
    cv2.imshow("capture", frame)
    if cv2.waitKey(1) & 0xFF == ord('q'):
        break
camera.release()
cv2.destroyAllWindows()

效果图：

![在这里插入图片描述](https://img-blog.csdnimg.cn/a1f98441737942a985ed3f6d16b5c29e.png

总结

1 我们首先要计算出焦距大小
2 要知道我们求得目标的宽度（对于目标在像素中重叠，或者遮挡，这个方法应该不可以用）