双目相机标定与校正python

双目相机标定与校正通常需要使用计算机视觉库，比如OpenCV。下面是一个使用Python和OpenCV进行双目相机标定与校正的简单示例代码：

1. 导入库

import cv2
import numpy as np
import glob

2. 定义棋盘格参数

# 棋盘格大小
chessboard_size = (9, 6)
# 棋盘格格点之间的距离
square_size = 0.026

3. 获取棋盘格角点

# 检测角点的最大尝试次数
max_attempts = 10
# 用于存储角点的数组
obj_points = []
img_points_left = []
img_points_right = []

# 获取所有棋盘格图像的文件名
image_filenames_left = glob.glob('left*.jpg')
image_filenames_right = glob.glob('right*.jpg')

# 遍历所有图像
for image_filename_left, image_filename_right in zip(image_filenames_left, image_filenames_right):
    # 读取图像
    img_left = cv2.imread(image_filename_left)
    img_right = cv2.imread(image_filename_right)
    
    # 转换为灰度图像
    gray_left = cv2.cvtColor(img_left, cv2.COLOR_BGR2GRAY)
    gray_right = cv2.cvtColor(img_right, cv2.COLOR_BGR2GRAY)
    
    # 查找棋盘格角点
    found_left, corners_left = cv2.findChessboardCorners(gray_left, chessboard_size, None)
    found_right, corners_right = cv2.findChessboardCorners(gray_right, chessboard_size, None)
    
    # 如果角点被找到
    if found_left and found_right:
        # 定义角点坐标
        objp = np.zeros((chessboard_size[0] * chessboard_size[1], 3), np.float32)
        objp[:, :2] = np.mgrid[0:chessboard_size[0], 0:chessboard_size[1]].T.reshape(-1, 2) * square_size
        
        # 亚像素级别的精确化
        criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
        corners_left = cv2.cornerSubPix(gray_left, corners_left, (11, 11), (-1, -1), criteria)
        corners_right = cv2.cornerSubPix(gray_right, corners_right, (11, 11), (-1, -1), criteria)
        
        # 保存角点
        obj_points.append(objp)
        img_points_left.append(corners_left)
        img_points_right.append(corners_right)

4. 双目相机标定

# 标定相机
retval, camera_matrix_left, dist_coeffs_left, camera_matrix_right, dist_coeffs_right, R, T, E, F = cv2.stereoCalibrate(
    obj_points, img_points_left, img_points_right, None, None, None, None, img_left.shape[::-1], flags=cv2.CALIB_FIX_INTRINSIC)

5. 双目相机校正

# 生成双目校正映射
R_left, R_right, P_left, P_right, Q, _, _ = cv2.stereoRectify(
    camera_matrix_left, dist_coeffs_left, camera_matrix_right, dist_coeffs_right, img_left.shape[::-1], R, T)
left_map_1, left_map_2 = cv2.initUndistortRectifyMap(camera_matrix_left, dist_coeffs_left, R_left, P_left, img_left.shape[::-1], cv2.CV_16SC2)
right_map_1, right_map_2 = cv2.initUndistortRectifyMap(camera_matrix_right, dist_coeffs_right, R_right, P_right, img_left.shape[::-1], cv2.CV_16SC2)

这样，你就可以使用生成的校正映射对双目图像进行校正了。