基于python opencv实现广角相机标定和图像畸变矫正

r囧r小猫 2022-12-06 01:24 294阅读 0赞

目的：

1.  实现相机标定，得到相机的内参以及畸变旋转参数等
2.  尝试矫正由相机产生的图像畸变

代码：

import cv2 as cv
    import numpy as np
    import glob
    import os
    
    #循环中断
    criteria=(cv.TERM_CRITERIA_EPS+cv.TERM_CRITERIA_MAX_ITER,30,0.001)
    
    #标定板交叉点的个数
    row=6
    column=4
    objp=np.zeros((row*column,3),np.float32)
    objp[:,:2]=np.mgrid[0:row,0:column].T.reshape(-1,2)
    
    objpoints=[]   #实际空间3D点
    imgpoints=[]   #图像中2D点
    
    #批量读取图片
    images=glob.glob('D:\\python\\photos\\chess\\*.jpg') 
    
    for fname in images:
        img=cv.imread(fname)
        gray=cv.cvtColor(img,cv.COLOR_BGR2GRAY)
        
        #找标定板角点
        ret,corners=cv.findChessboardCorners(gray,(row,column),None)
        
        if ret==True:
            objpoints.append(objp)
            
            corners2=cv.cornerSubPix(gray, corners, (11,11), (-1,-1), criteria)
            imgpoints.append(corners2)
            
    #标定相机
    ret,Matrix,dist,rvecs,tvecs=cv.calibrateCamera(objpoints,imgpoints,gray.shape[::-1],None,None)
    
    datadir="D:\\python\\photos\\chess\\"
    
    path=os.path.join(datadir)
    img_list=os.listdir(path)
    
    for i in img_list:
        img=cv.imread(os.path.join(path,i))
        h,w=img.shape[:2]                                    
        newMatrix, roi = cv.getOptimalNewCameraMatrix(Matrix, dist, (w,h), 1, (w,h)) #矫正图像
    
        dst = cv.undistort(img, Matrix, dist, None, newMatrix)
        cv.imwrite('D:\\python\\practice\\photos\\calibrated\\'+i,dst)
    
    #计算重投影误差
    tot_error = 0
    for i in range(len(objpoints)):
        imgpoints2, _ = cv.projectPoints(objpoints[i], rvecs[i], tvecs[i], Matrix, dist)
        error = cv.norm(imgpoints[i],imgpoints2, cv.NORM_L2)/len(imgpoints2)
        tot_error += error
    
    #输出参数
    print('ret:\n',ret)
    print('mtx:\n',Matrix)
    print('dist:\n',dist)
    print('rvecs:\n',rvecs)
    print('tvecs:\n',tvecs)
    print ("total error: ", tot_error/len(objpoints))

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