PyCharm写的相机棋盘格标定程序

1. import numpy as np
   
2. import yaml as yml
   
3. import cv2
   
4. 
   
5. RowCorner = 11
   
6. ColCorner = 17
   
7. GridX = 50
   
8. GridY = 50
   
9. 
   
10. criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
    
11. img = cv2.imread("C:\\Users\\Criss\\Desktop\\Calib1.bmp")
    
12. cv2.imshow('calib', img)
    
13. cv2.waitKey(0)
    
14. 
    
15. gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
    
16. cv2.imshow('gray', gray)
    
17. cv2.waitKey(0)
    
18. 
    
19. ret,corners = cv2.findChessboardCorners(gray, (ColCorner, RowCorner), 1+2+8)
    
20. cv2.waitKey(0)
    
21. 
    
22. objp = np.zeros((ColCorner*RowCorner, 3), np.float32)
    
23. objp[:, :2] = np.mgrid[0:ColCorner*GridX:GridX, 0:RowCorner*GridY:GridY].T.reshape(-1, 2)
    
24. 
    
25. objpoints = []
    
26. imgpoints = []
    
27. if ret == True:
    
28.     objpoints.append(objp)
    
29.     corner2 = cv2.cornerSubPix(gray, corners, (11, 11),(-1, -1), criteria)
    
30.     imgpoints.append(corner2)
    
31.     cv2.drawChessboardCorners(img, (ColCorner, RowCorner), corner2, ret)
    
32.     cv2.namedWindow('gray', cv2.WINDOW_NORMAL)
    
33.     cv2.imshow('gray', img)
    
34.     cv2.waitKey()
    
35. 
    
36.     ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)
    
37.     cv2.waitKey()
    
38. 
    
39.     img1 = cv2.imread("C:\\Users\\Criss\\Desktop\\Calib.bmp")
    
40.     h,  w = img1.shape[:2]
    
41.     newcameramtx, roi = cv2.getOptimalNewCameraMatrix(mtx, dist, (w, h), 1, (w, h))
    
42.     cv2.waitKey()
    
43. 
    
44.     # 保存结果
    
45.     calib = {'matx': mtx, 'dist': dist}
    
46.     f = open(r'Calib.yaml', 'w')
    
47.     print(yml.dump(calib, f))
    
48. 
    
49.     # undistort
    
50.     dst = cv2.undistort(img1, mtx, dist, None, newcameramtx)
    
51. 
    
52.     # crop the image
    
53.     x, y, w, h = roi
    
54.     dst = dst[y:y+h, x:x+w]
    
55.     cv2.imshow('undistort', dst)
    
56.     cv2.waitKey()
    
57.     cv2.imwrite('calibresult.png', dst)

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官方指导文档：https://docs.opencv.org/4.5.0/d4 ... ra_calibration.html