camera_calibration 棋盘

Author: makelove

ch42-摄像机标定/camera-calibration-checker-board_9x7.pdf

@@ -0,0 +1,58 @@
+# -*- coding: utf-8 -*-
+# @Time    : 2017/11/14 17:09
+# @Author  : play4fun
+# @File    : cc1.py
+# @Software: PyCharm
+
+"""
+camera_calibration1.py:
+
+有结果，但是摄像头分辨率太高，程序运行太慢了
+
+所用棋盘来自
+http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration?action=AttachFile&do=view&target=check-108.pdf
+"""
+import numpy as np
+import cv2
+
+criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
+cap = cv2.VideoCapture(0)
+
+
+#等比缩放
+frame_height = cap.get(cv2.CAP_PROP_FRAME_HEIGHT)#4 ，720
+frame_width = cap.get(cv2.CAP_PROP_FRAME_WIDTH)#3   ，1280
+frame_height=int(480/frame_width*frame_height)#270
+ret = cap.set(cv2.CAP_PROP_FRAME_HEIGHT, frame_height)#高
+ret = cap.set(cv2.CAP_PROP_FRAME_WIDTH, 480)
+#
+
+while cap.isOpened():
+    # img = cv2.imread(fname)
+    ret, img = cap.read()
+
+    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+
+    ret, corners = cv2.findChessboardCorners(image=gray, patternSize=(6, 4), corners=None)
+    '''
+    第一个参数Image，传入拍摄的棋盘图Mat图像，必须是8位的灰度或者彩色图像；
+第二个参数patternSize，每个棋盘图上内角点的行列数，一般情况下，行列数不要相同，便于后续标定程序识别标定板的方向；
+第三个参数corners，用于存储检测到的内角点图像坐标位置，一般用元素是Point2f的向量来表示：vector<Point2f> image_points_buf;
+第四个参数flage：用于定义棋盘图上内角点查找的不同处理方式，有默认值。
+    '''
+    print(corners)
+    print('---------')
+    if ret == True:
+        # objpoints.append(objp)
+        corners2 = cv2.cornerSubPix(gray, corners, (11, 11), (-1, -1), criteria)
+        # imgpoints.append(corners)
+        # Draw and display the corners
+        cv2.drawChessboardCorners(img, (6, 4), corners2, ret)
+
+    cv2.imshow('img', img)
+
+    key = cv2.waitKey(delay=10)
+    if key == ord("q"):
+        break
+
+cv2.destroyAllWindows()