Question

我正在尝试使用棋盘校准一对立体网络摄像头。为此，我修复了2个摄像机的相对位置并制作了一张棋盘照片，以便findChessboardCorners功能检测到两个图像上的角落 - ＆＃39; left.png＆＃39;和＆＃39; right.png＆＃39;。我的代码如下：

 import cv2
 import numpy as np

 criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
 lf = 'left.png'
 rf = 'right.png'
 lim = cv2.imread(lf, 0)
 rim = cv2.imread(rf, 0)

 nrows = 9
 ncols = 6

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


 lret, lcorners = cv2.findChessboardCorners(limg, (nrows, ncols), None)
 rret, rcorners =.findChessboardCorners(rimg, (nrows, ncols), None)

 cv2.cornerSubPix(limg, lcorners, (11, 11), (-1, -1), criteria)
 cv2.cornerSubPix(rimg, rcorners, (11, 11), (-1, -1), criteria)
 limgpoints = [lcorners]
 rimgpoints = [rcorners]

 retval, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, R, T, E, F = cv2.stereoCalibrate(objpoints,limgpoints, rimgpoints, None, None,None,None, limg.shape[::-1],flags = cv2.CALIB_RATIONAL_MODEL ,criteria=criteria)

 ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, limgpoints, limg.shape[::-1], None, None)

我希望数组dist和ditsCoeffs1重合，因为它们是左相机的内在参数。但是，distCoeffs1中的值的顺序为e-1 - e+1，而dist~ e-0 - e-2的值。这有什么不对？

Answer 1

答案很简单 - stereoCalibrate函数的flags参数应该设置为0.

来自calibrateCamera和stereoCalibrate

1 个答案: