python双循环是什么_加速python代码 – 我可以向量化双循环吗?

import numpy as np

def dist(p1, p2):

# Initially, p1.shape() == (n, 2) and p2.shape() == (m, 2)

# Now, p1.shape() == (1, n, 2) and p2.shape() == (m, 1, 2)

p1 = p1[np.newaxis, :, :]

p2 = p2[:, np.newaxis, :]

# get all the vectory things

from numpy import sin, cos, radians, sqrt, arctan2 as atan2

# do the same math as before, but use `p[..., 0]` instead of `p.x` etc

dlat = radians(p2[..., 0] - p1[..., 0])

dlon = radians(p2[..., 1] - p1[..., 1])

a = sin(dlat/2) * sin(dlat/2) + cos(p1[..., 0])*cos(p2[..., 0]) * sin(dlon/2) * sin(dlon/2)

c = 2 * atan2(sqrt(a), sqrt(1-a))

d = 6371 * c

return d

def distanceQuery(neighbor_pts):

return np.max(dist(neighbor_pts, neighbor_pts))

例如:

>>> points = np.array([[0, 0], [45, 0], [45, 45], [90, 0]], dtype=float)

>>> dist(points, points)

array([[ 0. , 5003.77169901, 6272.52596983, 10007.54339801],

[ 5003.77169901, 0. , 2579.12525679, 5003.77169901],

[ 6272.52596983, 2579.12525679, 0. , 4347.69702221],

[ 10007.54339801, 5003.77169901, 4347.69702221, 0. ]])

>>> np.max(_)

10007.543398010286

定时:

def dist_slow(p1, p2):

"""your function, adjusted to take an array instead of a `Point`"""

from math import radians, cos, sqrt, atan2

# compute the distance for all possible pairs

dlat = radians(p2[0]-p1[0])

dlon = radians(p2[1]-p1[1])

a = sin(dlat/2) * sin(dlat/2) + cos(radians(p1[0]))*cos(radians(p2[0])) * sin(dlon/2) * sin(dlon/2)

c = 2 * atan2(sqrt(a), sqrt(1-a))

d = 6371 * c

return d

def query_iter(p):

return max(dist_slow(p1, p2) for p1, p2 in itertools.combinations(p, 2))

def query_orig(p):

dista=[]

for i in range(len(p)):

for j in range(i + 1, len(p)):

z = dist_slow(p[i], p[j])

dista.append(z)

return max(dista)

def query_mine(p):

return dist(p, p).max()

然后:

>>> points = np.random.rand(1000, 2)

>>> timeit query_orig(points)

1 loops, best of 3: 7.94 s per loop

>>> timeit query_iter(points)

1 loops, best of 3: 7.35 s per loop

>>> timeit query_mine(points)

10 loops, best of 3: 150 ms per loop

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### 回答1: # 导入相应的库 import cv2 import numpy as np # 获取双目相机标定所需要的参数 # 获取棋盘格角点的位置 # 如果是灰度图像,则为1,否则为3 criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001) objp = np.zeros((9*6, 3), np.float32) objp[:, :2] = np.mgrid[0:9, 0:6].T.reshape(-1, 2) # 初始化左右摄像头 left_camera = cv2.VideoCapture(0) right_camera = cv2.VideoCapture(1) # 创建用于存放标定结果的数组 objpoints = [] imgpoints_l = [] imgpoints_r = [] # 创建计数器 count = 0 # 标定 while True: # 读取图像 _, frame_l = left_camera.read() _, frame_r = right_camera.read() gray_l = cv2.cvtColor(frame_l, cv2.COLOR_BGR2GRAY) gray_r = cv2.cvtColor(frame_r, cv2.COLOR_BGR2GRAY) # 找到标定板上的角点 ret_l, corners_l = cv2.findChessboardCorners(gray_l, (9, 6), None) ret_r, corners_r = cv2.findChessboardCorners(gray_r, (9, 6), None) if ret_l is True and ret_r is True: objpoints.append(objp) # 在左右摄像头标定板图像上寻找角点 corners2_l = cv2.cornerSubPix(gray_l, corners_l, (11, 11), (-1, -1), criteria) corners2_r = cv2.cornerSubPix(gray_r, corners_r, (11, 11), (-1, -1), criteria) imgpoints_l.append(corners2_l) imgpoints_r.append(corners2_r) # 绘制角点 cv2.drawChessboardCorners(frame_l, (9, 6), corners2_l, ret_l) cv2.drawChessboardCorners(frame_r, (9, 6), corners2_r, ret_r) cv2.imshow('left_camera', frame_l) cv2.imshow('right_camera', frame_r) cv2.waitKey(500) count += 1 # 标定成功后跳出循环 if count > 20: break# 获取摄像头的标定矩阵和畸变系数 ret_l, mtx_l, dist_l, rvecs_l, tvecs_l = cv2.calibrateCamera(objpoints, imgpoints_l, gray_l.shape[::-1], None, None) ret_r, mtx_r, dist_r, rvecs_r, tvecs_r = cv2.calibrateCamera(objpoints, imgpoints_r, gray_r.shape[::-1], None, None) # 获取双目摄像头的标定参数 ret, M1, d1, M2, d2, R, T, E, F = cv2.stereoCalibrate(objpoints, imgpoints_l, imgpoints_r, mtx_l, dist_l, mtx_r, dist_r, gray_l.shape[::-1]) # 获取极线参数 stereoRrectify_l, stereoRrectify_r, Rl, Rr, Pl, Pr, Q, roi1, roi2 = cv2.stereoRectify(M1, d1, M2, d2, gray_l.shape[::-1], R, T) # 将极线参数应用到图像上 map1_l, map2_l = cv2.initUndistortRectifyMap(M1, d1, Rl, Pl, gray_l.shape[::-1], cv2.CV_16SC2) map1_r, map2_r = cv2.initUndistortRectifyMap(M2, d2, Rr, Pr, gray_r.shape[::-1], cv2.CV_16SC2) ### 回答2: 双目相机标定是一个关键的前置步骤,为双目视觉系统的深度估计、三维重建和立体测量提供准确的图像数据。下面是一个简单的Python代码实现双目相机标定的示例: ```python import cv2 import numpy as np def calibrate_stereo_camera(image_folder, chessboard_size, square_size): obj_points = [] # 3D object points img_points_l = [] # 2D image points for left camera img_points_r = [] # 2D image points for right camera pattern_size = (chessboard_size[0]-1, chessboard_size[1]-1) # Prepare object points objp = np.zeros((np.prod(pattern_size), 3), dtype=np.float32) objp[:, :2] = np.mgrid[0:pattern_size[0], 0:pattern_size[1]].T.reshape(-1, 2) * square_size # Iterate through images for i in range(1, 13): # Assuming there are 12 calibration images # Load left and right images img_left = cv2.imread(f"{image_folder}/left_{i}.jpg", 0) img_right = cv2.imread(f"{image_folder}/right_{i}.jpg", 0) # Find chessboard corners ret_l, corners_l = cv2.findChessboardCorners(img_left, pattern_size) ret_r, corners_r = cv2.findChessboardCorners(img_right, pattern_size) if ret_l and ret_r: obj_points.append(objp) img_points_l.append(corners_l) img_points_r.append(corners_r) # Perform stereo calibration ret, K_l, D_l, K_r, D_r, R, T, E, F = cv2.stereoCalibrate(obj_points, img_points_l, img_points_r, None, None, None, None, img_left.shape[::-1]) return ret, K_l, D_l, K_r, D_r, R, T, E, F ``` 以上代码实现了双目相机标定的基本流程。首先,根据传入的图像文件夹路径、棋盘格尺寸和方格尺寸等参数,定义了一些变量和参数。然后,通过循环迭代读取标定图像,并使用`cv2.findChessboardCorners()`函数找到左右相机图像上的棋盘格角点。如果检测到了足够的角点,则将角点坐标存入`img_points_l`和`img_points_r`中。同时,将已知的定标板角点的3D坐标值存入`obj_points`中。 随后,使用`cv2.stereoCalibrate()`函数进行双目标定,得到了相机内参、畸变系数、旋转矩阵和平移向量等标定结果。 最后,返回了标定结果,包括左右相机的内参、畸变系数、旋转矩阵和平移向量等信息。 请注意,以上只是一个简单示例代码,实际的双目相机标定过程可能需要更多的参数和步骤,如相机畸变校正和立体校正等。具体实现方法可以根据实际需求进行调整和扩展。 ### 回答3: 双目相机标定是计算机视觉中的重要任务之一,可以通过该标定过程来获得两个相机之间的转换关系,从而实现三维重建、立体视觉等应用。以下是一个简单的Python代码实现双目相机标定的示例: ```python import cv2 import numpy as np # 准备用于标定的棋盘格模板大小 pattern_size = (9, 6) # 内部角点数量 # 创建存储标定图像和物体点的数组 obj_points = [] # 存储三维物体点 img_points_L = [] # 存储左相机图像点 img_points_R = [] # 存储右相机图像点 # 准备棋盘格物体点 obj_p = np.zeros((np.prod(pattern_size), 3), dtype=np.float32) obj_p[:, :2] = np.indices(pattern_size).T.reshape(-1, 2) # 打开相机设备 cap_L = cv2.VideoCapture(0) # 左相机的设备索引,默认为0 cap_R = cv2.VideoCapture(1) # 右相机的设备索引,默认为1 while True: # 读取图像 ret_L, frame_L = cap_L.read() ret_R, frame_R = cap_R.read() # 图像灰度处理 gray_L = cv2.cvtColor(frame_L, cv2.COLOR_BGR2GRAY) gray_R = cv2.cvtColor(frame_R, cv2.COLOR_BGR2GRAY) # 查找棋盘格角点 ret_L, corners_L = cv2.findChessboardCorners(gray_L, pattern_size) ret_R, corners_R = cv2.findChessboardCorners(gray_R, pattern_size) # 若成功找到棋盘格角点,则进行标定 if ret_L and ret_R: obj_points.append(obj_p) img_points_L.append(corners_L) img_points_R.append(corners_R) cv2.drawChessboardCorners(frame_L, pattern_size, corners_L, ret_L) cv2.drawChessboardCorners(frame_R, pattern_size, corners_R, ret_R) cv2.imshow("Left Camera", frame_L) cv2.imshow("Right Camera", frame_R) # 若按下ESC键,则退出标定 if cv2.waitKey(1) == 27: break # 相机标定 ret_L, K_L, dist_L, rvecs_L, tvecs_L = cv2.calibrateCamera(obj_points, img_points_L, gray_L.shape[::-1], None, None) ret_R, K_R, dist_R, rvecs_R, tvecs_R = cv2.calibrateCamera(obj_points, img_points_R, gray_R.shape[::-1], None, None) # 双目标定 ret, K_L, dist_L, K_R, dist_R, R, T, E, F = cv2.stereoCalibrate(obj_points, img_points_L, img_points_R, K_L, dist_L, K_R, dist_R, gray_L.shape[::-1]) # 打印标定结果 print("相机内参数 (左):") print(K_L) print("畸变参数 (左):") print(dist_L) print() print("相机内参数 (右):") print(K_R) print("畸变参数 (右):") print(dist_R) print() print("旋转矩阵:") print(R) print("平移向量:") print(T) print() print("本质矩阵:") print(E) print("基础矩阵:") print(F) # 释放相机设备 cap_L.release() cap_R.release() # 关闭窗口 cv2.destroyAllWindows() ``` 以上代码使用OpenCV库来实现相机标定的相关功能。它通过在棋盘格图案中检测角点的方式来获取图像点,然后利用这些点进行相机标定和双目标定。最终输出的结果包括相机的内参数、畸变参数、旋转矩阵、平移向量、本质矩阵和基础矩阵。
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