python棋盘格标定程序

根据棋盘格标定板的尺寸和格子数量、大小修改程序

#标定命令 python3 cal.py --image_size 1280x720 --corner 11x8 --square 30import os
import cv2 as cv
import numpy as np
import glob
import xml.etree.ElementTree as ET
import argparseclass CameraCalibrator(object):def __init__(self, image_size:tuple):super(CameraCalibrator, self).__init__()self.image_size = image_sizeself.matrix = np.zeros((3, 3), np.float)self.new_camera_matrix = np.zeros((3, 3), np.float)self.dist = np.zeros((1, 5))self.roi = np.zeros(4, np.int)def save_params(self, save_path='camera_params.xml'):root = ET.Element('root')tree = ET.ElementTree(root)mat_node = ET.Element('camera_matrix')root.append(mat_node)for i, elem in enumerate(self.matrix.flatten()):child = ET.Element('data{}'.format(i))child.text = str(elem)mat_node.append(child)dist_node = ET.Element('camera_distortion')root.append(dist_node)for i, elem in enumerate(self.dist.flatten()):child = ET.Element('data{}'.format(i))child.text = str(elem)dist_node.append(child)tree.write(save_path, 'UTF-8')print("Saved params in {}.".format(save_path))def cal_real_corner(self, corner_height, corner_width, square_size):obj_corner = np.zeros([corner_height * corner_width, 3], np.float32)obj_corner[:, :2] = np.mgrid[0:corner_height, 0:corner_width].T.reshape(-1, 2)  # (w*h)*2return obj_corner * square_sizedef calibration(self, corner_height:int, corner_width:int, square_size:float):file_names = glob.glob('./chess/*.JPG') + glob.glob('./chess/*.jpg') + glob.glob('./chess/*.png')objs_corner = []imgs_corner = []criteria = (cv.TERM_CRITERIA_EPS + cv.TERM_CRITERIA_MAX_ITER, 30, 0.001)obj_corner = self.cal_real_corner(corner_height, corner_width, square_size)for file_name in file_names:# read imagechess_img = cv.imread(file_name)assert (chess_img.shape[0] == self.image_size[1] and chess_img.shape[1] == self.image_size[0]), \"Image size does not match the given value {}.".format(self.image_size)# to graygray = cv.cvtColor(chess_img, cv.COLOR_BGR2GRAY)# find chessboard cornersret, img_corners = cv.findChessboardCorners(gray, (corner_height, corner_width))# append to img_cornersif ret:objs_corner.append(obj_corner)img_corners = cv.cornerSubPix(gray, img_corners, winSize=(square_size//2, square_size//2),zeroZone=(-1, -1), criteria=criteria)imgs_corner.append(img_corners)else:print("Fail to find corners in {}.".format(file_name))# calibrationret, self.matrix, self.dist, rvecs, tveces = cv.calibrateCamera(objs_corner, imgs_corner, self.image_size, None, None)print(self.matrix)return retdef rectify_image(self, img):if not isinstance(img, np.ndarray):AssertionError("Image type '{}' is not numpy.ndarray.".format(type(img)))dst = cv.undistort(img, self.matrix, self.dist, self.new_camera_matrix)x, y, w, h = self.roidst = dst[y:y + h, x:x + w]dst = cv.resize(dst, (self.image_size[0], self.image_size[1]))return dstif __name__ == '__main__':parser = argparse.ArgumentParser()parser.add_argument('--image_size', type= str, help='width*height of image')parser.add_argument('--square', type=int, help='size of chessboard square, by mm')parser.add_argument('--corner', type=str, help='width*height of chessboard corner')args = parser.parse_args()calibrator = Nonetry:image_size = tuple(int(i) for i in args.image_size.split('x'))calibrator = CameraCalibrator(image_size)except:print("Invalid/Missing parameter: --image_size. Sample: \n\n""    --image_size 1920*1080\n")exit(-1)if not args.corner or not args.square:print("Missing parameters of corner/square. Using: \n\n""    --corner <width>x<height>\n\n""    --square <length of square>\n")exit(-1)corner = tuple(int(i) for i in args.corner.split('x'))if calibrator.calibration(corner[1], corner[0], args.square):calibrator.save_params()else:print("Calibration failed.")

python棋盘格标定程序相关推荐

计算机视觉——棋盘格标定法获取相机内参外参
计算机视觉--棋盘格标定法获取相机内参外参一.原理相机标定目的相机标定的输入相机标定的输出相机标定策略相机拍摄图像变换过程相机内参相机外参二.环境三.数据集四.运行结果与分析角 ...
python相机标定流程图_相机标定——OpenCV-Python Tutorials
目标我们将了解导致相机失真.扭曲的内因与外因我们将试着找到这些畸变参数,并消除畸变基础如今大量廉价的摄像机导致了很多照片畸变.两个主要的畸变是径向畸变和切向畸变. 由于径向畸变,直线会变弯.距 ...
张正友相机标定Opencv实现以及标定流程标定结果评价图像矫正流程解析（附标定程序和棋盘图）
from:https://blog.csdn.net/dcrmg/article/details/52939318 使用Opencv实现张正友法相机标定之前,有几个问题事先要确认一下,那就是相机为什么 ...
相机标定与棋盘格标定
文章目录 1.相机标定 1.1 相机标定介绍 1.2 相机标定的意义 1.3 相机标定方法 1.4 相机标定的用途 2.相机参数 2.1 内参 2.2 外参 2.3 畸变参数 3.棋盘格标定 3.1 ...
opencv c++实现棋盘格标定
程序流程准备好一系列用来相机标定的图片: 对每张图片提取角点信息: 由于角点信息不够精确,进一步提取亚像素角点信息: 在图片中画出提取出的角点: 相机标定: 对标定结果评价,计算误差: 使用标定结果 ...
python 手眼标定OpenCV手眼标定（calibrateHandeye()）一
以下代码来源本篇博客通过该代码,附上记录的公式与查找连接,方面以后调用能弄懂各个参数的意思本篇看完看第二篇代码踩坑部分python 手眼标定OpenCV手眼标定(calibrateHandeye( ...
利用OpenCv程序生成棋盘格标定板，并且实现像素单位与米制单位的转换
/********************************************************************************************* 程序功能: ...
python网络爬虫程序技术,Python网络爬虫程序技术
spContent=该课程是2018年广东省精品在线开放课程.课程主要以爬取学生信息.爬取城市天气预报.爬取网站图像.爬起图书网站图书.爬取商城网站商品等5个项目为依托,讲解Web.正则表达式.Bea ...
python缩进在程序中长度统一且强制使用_Python习题纠错1
February, 1991 0.9.1 2.Python语言的缩进只要统一即可,不一定是4个空格(尽管这是惯例). Python缩进在程序中长度统一且强制使用. 3.IPO:Input Proces ...

python棋盘格标定程序

python棋盘格标定程序相关推荐

最新文章

热门文章