Opencv python 相机标定--查找棋盘格角点

Opencv python 相机标定–查找棋盘格角点

相机标定前提: 查找标定板角点
目前使用两种标定方法:

处理图片下载路径：
链接：https://pan.baidu.com/s/1spm-Qa6B4IWadtWbP-1h0A
提取码：5i3y

# -*- coding: utf-8 -*-
import cv2

# 查找棋盘格 角点
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.1)

# 棋盘格参数
corners_vertical = 8    # 纵向角点个数;
corners_horizontal = 11  # 纵向角点个数;
pattern_size = (corners_vertical, corners_horizontal)


def find_corners_sb(img):
    """
    查找棋盘格角点函数 SB升级款
    :param img: 处理原图
    """
    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
    # 查找棋盘格角点;
    ret, corners = cv2.findChessboardCornersSB(gray, pattern_size, cv2.CALIB_CB_EXHAUSTIVE + cv2.CALIB_CB_ACCURACY)
    if ret:
        # 显示角点
        cv2.drawChessboardCorners(img, pattern_size, corners, ret)


def find_corners(img):
    """
    查找棋盘格角点函数
    :param img: 处理原图
    """
    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)

    # 查找棋盘格角点;
    ret, corners = cv2.findChessboardCorners(gray, pattern_size, cv2.CALIB_CB_ADAPTIVE_THRESH +
                                             cv2.CALIB_CB_FAST_CHECK +
                                             cv2.CALIB_CB_FILTER_QUADS)
    if ret:
        # 精细查找角点
        corners2 = cv2.cornerSubPix(gray, corners, (11, 11), (-1, -1), criteria)
        # 显示角点
        cv2.drawChessboardCorners(img, pattern_size, corners2, ret)


def main():
    # 1.创建显示窗口
    cv2.namedWindow("img", 0)
    cv2.resizeWindow("img", 1075, 900)

    # 2.循环读取标定图片
    for i in range(0, 14):
        file_path = ('./image/left%02d.jpg' % i)
        img_src = cv2.imread(file_path)

        if img_src is not None:
            # 执行查找角点算法
            find_corners_sb(img_src)
            # find_corners(img_src)

            # 显示图片
            cv2.imshow("img", img_src)
            cv2.waitKey(500)

    cv2.destroyAllWindows()


if __name__ == '__main__':
    main()