Question

我在树莓派3上运行python 3并安装了opencv。我拍了10张棋盘图片，它检测到所有10张图片并显示它们，但是当它到达最后一行时，它会抛出一个错误。这是我使用的图片：https://imgur.com/gallery/IDfHH这是我的代码：

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((6*7,3), np.float32)
objp[:,:2] = np.mgrid[0:7,0:6].T.reshape(-1,2)

# 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')

for fname in images:
    print('test')
    img = cv2.imread(fname)
    gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)

    # Find the chess board corners
    ret, corners = cv2.findChessboardCorners(gray, (6,9),None)

    # If found, add object points, image points (after refining them)
    if ret == True:
        print('test2')
        objpoints.append(objp)

        corners2 = cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria)
        imgpoints.append(corners2)

        # Draw and display the corners
        img = cv2.drawChessboardCorners(img, (6,9), corners2,ret)
        cv2.imshow('img',img)
        cv2.waitKey(500)
print('test3')
cv2.destroyAllWindows()
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1],None,None)

Answer 1

该示例假设您有一个6x7的棋盘图像，我认为您有6x9。你必须为6x9校准图像准备objp变量，所以代码必须是这样的：objp = np.zeros（（ 6 * 9 ，3），np.float32）

代码：

objp = np.zeros((6*9,3), np.float32)

Answer 2

感谢@Rui Sebastiao。
我使用的是14 x 10，所以我更改了以下几行，至少没有错误：）

    objp = np.zeros((14*10, 3), np.float32)
    objp[:, :2] = np.mgrid[0:14, 0:10].T.reshape(-1, 2)

Raspberry pi OpenCV错误：（-215）ni == ni1 in function collectCalibrationData

2 个答案: