def cv_stereoCal(boardSize, pathl, pathr):
filelistl = cbm.getFilelist(pathl)
filelistr = cbm.getFilelist(pathr)
# 获得角点坐标
imagePointsl, objectCornerls, imageSizel = cbm.findPoints(
filelistl, boardSize)
imagePointsr, objectCornerrs, imageSizer = cbm.findPoints(
filelistr, boardSize)
objectCorners = []
for i in range(len(filelistl)):
objectCorners.append(objectCornerls)
imagePointsl[i] = imagePointsl[i].reshape((-1, 2))
imagePointsr[i] = imagePointsr[i].reshape((-1, 2))
# 获得camera matrix
cml, dcl, rvls, tvls = cbm.cv_calibrate(imagePointsl, objectCornerls,
imageSizel)
cmr, dcr, rvrs, tvrs = cbm.cv_calibrate(imagePointsr, objectCornerrs,
imageSizer)
# 进行stereoCal,获得R,T,E,F
retval, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, R, T, E, F = cv.stereoCalibrate(
objectCorners,
imagePointsl,
imagePointsr,
cml,
dcl,
cmr,
dcr,
imageSizel,
flags=cv.CALIB_FIX_INTRINSIC)
#返回计算结果
return cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, R, T, E, F, imageSizel
def singleCal(boardSize):
if DEBUG==1:
filelist = ccbm.getFilelist('./img/left')
else:
dirname = tkinter.filedialog.askdirectory(initialdir='./', title="请选择图片文件夹")
filelist = ccbm.getFilelist(dirname)
if (len(filelist) < 3):
print("提供的图片数目过少，请至少保证有3张图片！")
os._exit(-1)
ccbm.main(boardSize,filelist)
def main(boardSize, pathl, pathr):
leftMaps, rightMaps, Rl, Rr, Pl, Pr, Q = getMaps(boardSize, pathl, pathr)
filelist1 = ccb.getFilelist(pathl)
filelist2 = ccb.getFilelist(pathr)
file1 = filelist1[int(len(filelist1) / 2)]
file2 = filelist2[int(len(filelist2) / 2)]
check(boardSize, leftMaps, rightMaps, file1, file2)
if not os.path.exists('./result/'):
os.mkdir('./result/')
np.savetxt("./result/rectify.txt", (Rl, Rr, Pl, Pr, Q), '%s', ',', '\n')
def zhangCalibrateCamera(imagePoints, objectCorners):
# 计算单应矩阵
H = homographys(imagePoints, objectCorners)
# 计算V矩阵
V = getV(H)
# 计算相机内参
cameraMatirx = getCameraMatrix(V)
# 计算旋转、位移向量
RTvecs, rmat, tvecs = getRtvecs(H, cameraMatirx)
# 计算旋转、位移向量
disCoeffs = getDisCoeffs(cameraMatirx, imagePoints, objectCorners, RTvecs)
# 将位移矩阵转化为向量
rvecs = ramt2rvecs(rmat)
return cameraMatirx, disCoeffs, rvecs, tvecs
def main(boardSize, filelist):
imagePoints, objectCorners, imageSize = ccb.findPoints(filelist, boardSize)
cameraMatirx, disCoeffs, rvecs, tvecs = ccb.cv_calibrate(
imagePoints, objectCorners, imageSize)
zcameraMatirx, zdisCoeffs, zrvecs, ztvecs = zhangCalibrateCamera(
imagePoints, objectCorners)
ccb.save('./result/compare/opencv', cameraMatirx, disCoeffs, rvecs, tvecs)
ccb.save('./result/compare/zhang', zcameraMatirx, zdisCoeffs, zrvecs,
ztvecs)
if __name__ == "__main__":
filelist = ccb.getFilelist('../img/left')
main((6, 9), filelist)
def singleCal(boardSize, path):
filelist = cbm.getFilelist(path)
imagePoints, objectCorners, imageSize = cbm.findPoints(filelist, boardSize)
cameraMatirx, disCoeffs, rvecs, tvecs = cbm.cv_calibrate(
imagePoints, objectCorners, imageSize)
return cameraMatirx, disCoeffs, rvecs, tvecs