马春杰杰之前已经有一个用python-opencv做标定的程序，https://www.machunjie.com/visual/60.html
不过有点问题，只是单张图片而已，这次的程序是多个图片一起进行标定，结果会增加不少。
代码如下：
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import numpy as np import cv2 #import os #import time from matplotlib import pyplot as plt LeftorRight = 'L' numer = 9 chx = 6 chy = 9 chd = 25 # termination criteria criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, numer, 0.001) # prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0) objp = np.zeros((chy*chx,3), np.float32) objp[:,:2] = np.mgrid[0:chy,0:chx].T.reshape(-1,2) # Arrays to store object points and image points from all the images. objpoints = [] # 3d point in real world space, (x25mm) imgpoints = [] # 2d points in image plane. enum = 1 while(enum<=numer): img=cv2.imread('left/left'+str(enum)+'.jpg') cv2.imshow("ww",img) #cv2.waitKey(0) gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY) # Find the chess board corners ret, corners = cv2.findChessboardCorners(gray, (chy,chx),None) #cv2.imshow('Calibration',img) # If found, add object points, image points (after refining them) if ret == True and enum <= numer: objpoints.append(objp*chd) cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria) imgpoints.append(corners) # Draw and display the corners cv2.drawChessboardCorners(img, (chy,chx),corners,ret) cv2.imshow('Calibration',img) cv2.imwrite('left/calibrated_L{0}.jpg'.format(enum),img) # print(enum) #time.sleep(2) # time.sleep(2) if enum == numer: ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None) img = cv2.imread('left/left'+str(enum)+'.jpg') gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY) h, w = img.shape[:2] # a (1 to see the whole picture) newcameramtx, roi = cv2.getOptimalNewCameraMatrix(mtx, dist, (w, h), 1, (w, h)) if (np.size(roi) == 4 and np.mean(roi) != 0): # undistort mapx, mapy = cv2.initUndistortRectifyMap(mtx, dist, None, newcameramtx, (w, h), 5) dst = cv2.remap(img, mapx, mapy, cv2.INTER_LINEAR) # crop the image x, y, w, h = roi dst = dst[y:y + h, x:x + w] dst = cv2.cvtColor(dst, cv2.COLOR_RGB2BGR) cv2.imwrite('result.jpg',dst) np.savetxt('mtxL.txt',mtx) np.savetxt('distL.txt',dist) else: np.disp('Something Went Wrong') enum += 1 ''' k = cv2.waitKey(1) & 0xFF if k == 27: break ''' cv2.destroyAllWindows() |
这里的result.jpg其实就是校准后的图像，可以看到，线条已经变的很直了。
![[mcj]利用python-opencv进行相机标定(多张图片，附完整代码及图片)](https://ypyssl.machunjie.com/machunjie/20231221144849-45c.png_machunjie.png)
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