帮我写一个双目相机标定的python代码
时间: 2023-10-15 19:02:39 浏览: 69
好的,双目相机标定的Python代码如下:
```python
import numpy as np
import cv2
# 定义棋盘格的大小和棋盘格上每个方格的大小
board_size = (9, 6)
square_size = 0.03 # 单位为米
# 定义要标定的图像的路径
left_image_path = 'left.png'
right_image_path = 'right.png'
# 建立对象点数组
object_points = np.zeros((board_size[0]*board_size[1], 3), np.float32)
object_points[:, :2] = np.mgrid[0:board_size[0], 0:board_size[1]].T.reshape(-1, 2) * square_size
# 读取图像
left_image = cv2.imread(left_image_path)
right_image = cv2.imread(right_image_path)
# 将图像转换为灰度图
left_gray = cv2.cvtColor(left_image, cv2.COLOR_BGR2GRAY)
right_gray = cv2.cvtColor(right_image, cv2.COLOR_BGR2GRAY)
# 查找棋盘格角点
left_ret, left_corners = cv2.findChessboardCorners(left_gray, board_size)
right_ret, right_corners = cv2.findChessboardCorners(right_gray, board_size)
# 如果找到了角点,则进行标定
if left_ret and right_ret:
# 亚像素角点精确化
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
cv2.cornerSubPix(left_gray, left_corners, (5, 5), (-1, -1), criteria)
cv2.cornerSubPix(right_gray, right_corners, (5, 5), (-1, -1), criteria)
# 组合左右摄像机的角点
image_points = np.concatenate((left_corners, right_corners), axis=1)
# 定义相机的内参矩阵和畸变系数
camera_matrix = np.zeros((3, 3))
dist_coef = np.zeros((5, 1))
# 标定相机
ret, camera_matrix, dist_coef, rvecs, tvecs = cv2.calibrateCamera([object_points],
[image_points],
left_gray.shape[::-1],
camera_matrix,
dist_coef)
# 标定双目相机
flags = cv2.CALIB_FIX_INTRINSIC | cv2.CALIB_SAME_FOCAL_LENGTH
ret, camera_matrix, dist_coef, rvecs, tvecs, E, F = cv2.stereoCalibrate([object_points],
[left_corners],
[right_corners],
camera_matrix,
dist_coef,
camera_matrix,
dist_coef,
left_gray.shape[::-1],
flags=flags,
criteria=criteria)
# 计算双目相机的投影矩阵
R1, R2, P1, P2, Q, _, _ = cv2.stereoRectify(camera_matrix,
dist_coef,
camera_matrix,
dist_coef,
left_gray.shape[::-1],
np.zeros((3, 1)),
np.zeros((3, 1)),
flags=cv2.CALIB_ZERO_DISPARITY,
alpha=-1)
# 保存结果
np.savez('stereo_calibration.npz', camera_matrix=camera_matrix, dist_coef=dist_coef,
R1=R1, R2=R2, P1=P1, P2=P2, Q=Q)
```
这段代码假定左右摄像机的图像已经分别保存在 `left.png` 和 `right.png` 中,棋盘格的大小为 `9x6`,棋盘格上每个方格的大小为 `0.03` 米。运行代码后将得到一个包含相机的内参矩阵、畸变系数和双目相机的投影矩阵等信息的文件 `stereo_calibration.npz`。
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