鱼眼相机的标定

鱼眼相机内参标定

理论参考

https://niecongchong.blog.csdn.net/article/details/122944975

代码参考

https://blog.csdn.net/m0_58772523/article/details/121585684

准备工作

使用鱼眼相机从多个角度对棋盘格拍照（棋盘格可大可小，只要能检测出角点即可），并将其保存在同一文件夹下。

计算内参

import cv2
import numpy as np
import glob




def calib(inter_corner_shape, size_per_grid, path):
    # 获取棋盘格角点个数
    w, h = inter_corner_shape
    # 世界坐标维度为三，与角点维度对齐
    # 普通相机校正中世界坐标比角点坐标少一个维，在鱼眼相机校正中少一维会报错
    cp_int = np.zeros((1, w * h, 3), np.float32)
    cp_int[0, :, :2] = np.mgrid[0:w, 0:h].T.reshape(-1, 2).astype(np.float64)
    cp_world = cp_int * size_per_grid
    # 检测亚像素角点
    subpix_criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.1)
    # 标定方法
    calibration_flags = cv2.fisheye.CALIB_RECOMPUTE_EXTRINSIC + cv2.fisheye.CALIB_CHECK_COND + cv2.fisheye.CALIB_FIX_SKEW
    # 图像尺寸
    img_shape = None
    # 世界坐标
    obj_points = []
    # 角点坐标
    img_points = []
    # 获取图片
    images = glob.glob(path + '/*.jpg')
    for fname in images:

        img = cv2.imread(fname)
        # 使用第一张图片得到图像尺寸
        if img_shape == None:
            img_shape = img.shape[:2]
        else:
            assert img_shape == img.shape[:2], "All images must share the same size."

        gray_img = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
        # print(gray_img)
        # print(type(gray_img))
        # 找角点
        ret, corners = cv2.findChessboardCorners(gray_img, (w, h),
                                                 cv2.CALIB_CB_ADAPTIVE_THRESH + cv2.CALIB_CB_FAST_CHECK + cv2.CALIB_CB_NORMALIZE_IMAGE)
        if ret == True:
            obj_points.append(cp_world)
            # 添加亚像素角点信息
            cv2.cornerSubPix(gray_img, corners, (3, 3), (-1, -1), subpix_criteria)
            img_points.append(corners)
    # 实际图片数
    imgs = len(obj_points)
    # 初始化内参、畸变系数以及旋转和平移向量
    K = np.zeros((3, 3))
    D = np.zeros((4, 1))
    rvecs = [np.zeros((1, 1, 3), dtype=np.float64) for i in range(imgs)]
    tvecs = [np.zeros((1, 1, 3), dtype=np.float64) for i in range(imgs)]
    # 鱼眼相机校正
    rms, _, _, _, _ = cv2.fisheye.calibrate(
        obj_points, img_points, gray_img.shape[::-1], K, D, rvecs, tvecs, calibration_flags,
        (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 1e-6))
    # 用于图片校正时调整图片尺寸
    DIM = img_shape[::-1]
    print("Found " + str(imgs) + " valid images for calibration")
    #只有检测出指定角点数量的图片才会用于计算，如果没有照片被检测出来则会报错。
    print("DIM=" + str(img_shape[::-1]))          #图片大小
    print("K=np.array(" + str(K.tolist()) + ")")  #
    print("D=np.array(" + str(D.tolist()) + ")")
    return DIM, K, D
if __name__ == '__main__':
    inter_corner_shape = (9, 6)    #棋盘格角点数量
    size_per_grid = 0.06
    path='back'           #选择该镜头所拍照片所在文件
    DIM, K, D = calib(inter_corner_shape, size_per_grid, path)