python实现相机标定后输出中间棋盘格的4个角点坐标
时间: 2024-02-28 22:57:28 浏览: 19
好的,您可以使用OpenCV中的函数来进行相机标定和棋盘格角点检测,并输出中间棋盘格的4个角点坐标。以下是一个示例代码:
```python
import cv2
import numpy as np
# 读取棋盘格图片
img = cv2.imread('chessboard.jpg')
# 定义棋盘格尺寸
pattern_size = (5, 7)
# 寻找棋盘格角点
ret, corners = cv2.findChessboardCorners(img, pattern_size)
if ret:
# 绘制棋盘格角点
cv2.drawChessboardCorners(img, pattern_size, corners, ret)
# 进行相机标定
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
objp = np.zeros((pattern_size[0] * pattern_size[1], 3), np.float32)
objp[:, :2] = np.mgrid[0:pattern_size[0], 0:pattern_size[1]].T.reshape(-1, 2)
objpoints = []
imgpoints = []
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
ret, corners = cv2.findChessboardCorners(gray, pattern_size)
if ret:
objpoints.append(objp)
corners2 = cv2.cornerSubPix(gray, corners, (11, 11), (-1, -1), criteria)
imgpoints.append(corners2)
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)
# 输出中间棋盘格的4个角点坐标
if ret:
x, y, w, h = cv2.boundingRect(corners2)
mid_x = int(x + w / 2)
mid_y = int(y + h / 2)
corners_2d = np.array([[mid_x - 20, mid_y - 20],
[mid_x - 20, mid_y + 20],
[mid_x + 20, mid_y - 20],
[mid_x + 20, mid_y + 20]], dtype=np.float32)
corners_2d = cv2.undistortPoints(corners_2d, mtx, dist)
print(corners_2d)
# 显示图片
cv2.imshow('img', img)
cv2.waitKey()
cv2.destroyAllWindows()
else:
print('未找到棋盘格角点')
```
在代码中,我们首先使用`cv2.findChessboardCorners()`函数来寻找棋盘格角点,并使用`cv2.drawChessboardCorners()`函数在原图上绘制角点。然后使用`cv2.calibrateCamera()`函数进行相机标定,并输出中间棋盘格的4个角点坐标。最后使用`cv2.imshow()`函数显示图片,并使用`cv2.waitKey()`和`cv2.destroyAllWindows()`函数等待按键关闭窗口。