相机标定-python
代码chatGpt生成
1 import numpy as np 2 import cv2 3 4 # 定义棋盘格大小和格子数 5 CHESSBOARD_SIZE = (7, 6) 6 CHESSBOARD_SQUARE_SIZE = 25 7 8 # 设置标定图像文件夹路径以及输出的标定结果文件路径 9 IMAGES_FOLDER_PATH = './calibration_images/' 10 CALIBRATION_FILE_PATH = './calibration.xml' 11 12 # 准备物理坐标 13 object_points = np.zeros((CHESSBOARD_SIZE[0] * CHESSBOARD_SIZE[1], 3), np.float32) 14 object_points[:, :2] = np.mgrid[0:CHESSBOARD_SIZE[0], 0:CHESSBOARD_SIZE[1]].T.reshape(-1, 2) 15 object_points *= CHESSBOARD_SQUARE_SIZE 16 17 # 准备图像数据 18 image_paths = [IMAGES_FOLDER_PATH + f for f in os.listdir(IMAGES_FOLDER_PATH)] 19 image_size = None 20 image_points = [] 21 object_points_list = [] 22 for image_path in image_paths: 23 image = cv2.imread(image_path) 24 gray_image = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY) 25 ret, corners = cv2.findChessboardCorners(gray_image, CHESSBOARD_SIZE, None) 26 if ret: 27 # 找到了棋盘格角点，保存图像和物理坐标 28 image_points.append(corners.reshape(-1, 2)) 29 object_points_list.append(object_points) 30 if image_size is None: 31 image_size = gray_image.shape[::-1] 32 33 # 执行相机标定 34 ret, camera_matrix, distortion_coefficients, r_vector_list, t_vector_list = cv2.calibrateCamera( 35 object_points_list, image_points, image_size, None, None) 36 37 # 输出结果 38 print('camera_matrix:') 39 print(camera_matrix) 40 print('distortion_coefficients:') 41 print(distortion_coefficients) 42 print('r_vectors:') 43 print(r_vector_list) 44 print('t_vectors:') 45 print(t_vector_list) 46 47 # 保存标定结果 48 fs = cv2.FileStorage(CALIBRATION_FILE_PATH, cv2.FILE_STORAGE_WRITE) 49 fs.write('camera_matrix', camera_matrix) 50 fs.write('distortion_coefficients', distortion_coefficients) 51 fs.release()
