Question

我正在使用opencv python进行相机校准。我找到了使用cv2.calibratecamera函数的相机矩阵，但相机矩阵对于不同的图像是不同的这是我正在使用的代码 -

import numpy as np
import cv2
import glob

# termination criteria
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)

# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)
objp = np.zeros((7 * 7, 3), np.float32)
objp[:, :2] = np.mgrid[0:7, 0:7].T.reshape(-1, 2)
#objp = objp*(2.4625)

# Arrays to store object points and image points from all the images.
objpoints = []  # 3d point in real world space
imgpoints = []  # 2d points in image plane.

images = glob.glob('*.jpg')
print('hello')

for r12 in images:
    img = cv2.imread('r12.jpg')
    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)

    # Find the chess board corners
    ret, corners = cv2.findChessboardCorners(gray, (7, 7), None)

    # If found, add object points, image points (after refining them)
    if ret:
        objpoints.append(objp)
        print('yes')

        cv2.cornerSubPix(gray, corners, (11, 11), (-1, -1), criteria)
        imgpoints.append(corners)

        # Draw and display the corners
        cv2.drawChessboardCorners(img, (7, 7), corners, ret)
        cv2.imshow('img', img)
        cv2.waitKey(500)
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1],None,None)
#np.savez('coefficientsr',cameramatrixr = mtx,distcoeffsr = dist,rotationalvectorsr = rvecs,translationalvectorsr = tvecs)
print(mtx)
print(dist)

cv2.destroyAllWindows()

Answer 1

您可以尝试获取重投影错误，以查看每个校准的参数准确度。还要确保使用足够的图像并包括对象的不同角度。

本教程介绍了如何计算重投影错误：http://docs.opencv.org/3.1.0/dc/dbb/tutorial_py_calibration.html

使用opencv进行相机校准

1 个答案: