python opencv 标定_OpenCV小例程——摄像机标定

获取到的标定板图像为：

Python3下opencv摄像机标定

import numpy as np

import cv2

import glob

# termination criteria

criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)

# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)

objp = np.zeros((6*7,3), np.float32)

objp[:,:2] = np.mgrid[0:7,0:6].T.reshape(-1,2)

# Arrays to store object points and image points from all the images.

objpoints = [] # 3d point in real world space

imgpoints = [] # 2d points in image plane.

images = glob.glob('*.jpg')

for fname in images:

img = cv2.imread(fname)

gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)

# Find the chess board corners

ret, corners = cv2.findChessboardCorners(gray, (7,6), None)

# If found, add object points, image points (after refining them)

if ret == True:

objpoints.append(objp)

corners2=cv2.cornerSubPix(gray,corners, (11,11), (-1,-1), criteria)

imgpoints.append(corners)

#ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)

# Draw and display the corners

cv2.drawChessboardCorners(img, (7,6), corners2, ret)

cv2.imshow('img', img)

cv2.waitKey(500)

cv2.destroyAllWindows()1

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ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)

img = cv2.imread('left12.jpg')

h, w = img.shape[:2]

newcameramtx, roi=cv2.getOptimalNewCameraMatrix(mtx, dist, (w,h), 1, (w,h))

# undistort

dst = cv2.undistort(img, mtx, dist, None, newcameramtx)

# crop the image

x, y, w, h = roi

dst = dst[y:y+h, x:x+w]

cv2.imwrite('calibresult.png', dst)

# undistort

mapx, mapy = cv2.initUndistortRectifyMap(mtx, dist, None, newcameramtx, (w,h), 5)

dst = cv2.remap(img, mapx, mapy, cv2.INTER_LINEAR)

# crop the image

x, y, w, h = roi

dst = dst[y:y+h, x:x+w]

cv2.imwrite('calibresult.png', dst)1

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统计误差

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: {}".format(mean_error/len(objpoints)) )1

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total error: 0.023686000375385676