matlab标定投影误差,opencv 角点检测+相机标定+去畸变+重投影误差计算

https://blog.csdn.net/u010128736/article/details/52875137

https://blog.csdn.net/h532600610/article/details/51800488

python 角点检测+相机标定+去畸变+重投影误差计算：

#coding:utf-8

importcv2importnumpy as npimportglob#找棋盘格角点#阈值

criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)#棋盘格模板规格

w = 9h= 6

#世界坐标系中的棋盘格点,例如(0,0,0), (1,0,0), (2,0,0) ....,(8,5,0)，去掉Z坐标，记为二维矩阵

objp = np.zeros((w*h,3), np.float32)

objp[:,:2] = np.mgrid[0:w,0:h].T.reshape(-1,2)#储存棋盘格角点的世界坐标和图像坐标对

objpoints = [] #在世界坐标系中的三维点

imgpoints = [] #在图像平面的二维点

images= glob.glob('calib/*.png')for fname inimages:

img=cv2.imread(fname)

gray=cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)#找到棋盘格角点

ret, corners =cv2.findChessboardCorners(gray, (w,h),None)#如果找到足够点对，将其存储起来

if