问题描述
我想校准我的相机。目标是消除失真并且不裁剪图像(如最后一张照片)。我是这样做的:
1)加载图片,找到棋盘的角
import cv2
import numpy as np
import os
import glob
import sys
CHECKERBOARD = (7,7)
subpix_criteria = (cv2.TERM_CRITERIA_EPS+cv2.TERM_CRITERIA_MAX_ITER,30,0.1)
calibration_flags = cv2.fisheye.CALIB_RECOmpuTE_EXTRINSIC+cv2.fisheye.CALIB_CHECK_COND+cv2.fisheye.CALIB_FIX_SKEW
objp = np.zeros((1,CHECKERBOARD[0]*CHECKERBOARD[1],3),np.float32)
objp[0,:,:2] = np.mgrid[0:CHECKERBOARD[0],0:CHECKERBOARD[1]].T.reshape(-1,2)
_img_shape = None
objpoints = [] # 3d point in real world space
imgpoints = [] # 2d points in image plane.
images = os.listdir("./calib_snapshots")
gray = None
for fname in images:
fname = os.path.join("./calib_snapshots",fname)
if not os.path.isfile(fname):
continue
img = cv2.imread(fname)
if _img_shape == None:
_img_shape = img.shape[:2]
else:
assert _img_shape == img.shape[:2],"All images must share the same size."
gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
# Find the chess board corners
ret,corners = cv2.findChessboardCorners(gray,CHECKERBOARD,cv2.CALIB_CB_ADAPTIVE_THRESH+cv2.CALIB_CB_FAST_CHECK)
# If found,add object points,image points (after refining them)
if ret == True:
objpoints.append(objp)
cv2.cornerSubPix(gray,corners,(3,(-1,-1),subpix_criteria)
imgpoints.append(corners)
2)然后计算相机矩阵和畸变系数:
DIM =_img_shape[::-1]
K = np.zeros((3,3))
D = np.zeros((4,1))
rvecs = [np.zeros((1,1,dtype=np.float64) for i in range(N_OK)]
tvecs = [np.zeros((1,dtype=np.float64) for i in range(N_OK)]
rms,_,_ = \
cv2.fisheye.calibrate(
objpoints,imgpoints,gray.shape[::-1],K,D,rvecs,tvecs,calibration_flags,(cv2.TERM_CRITERIA_EPS+cv2.TERM_CRITERIA_MAX_ITER,1e-6)
)
- 然后计算地图:
map1,map2 = cv2.fisheye.initUndistortRectifyMap(K,np.eye(3),DIM,cv2.CV_16SC2)
我的输入图像: 4)当我重新映射我的图像时 - 我在结果中得到这样的裁剪图像:
img = cv2.imread("goingcrazy.jpg")
undistorted_img = cv2.remap(img,map1,map2,interpolation=cv2.INTER_LINEAR)
想要的图片:
我怎样才能得到这样的未裁剪图像?
PS 我在 c++ 中有工作解决方案,并尝试了这样的事情:我从校准()结果中打印了相机矩阵和失真系数,从 c++ 终端复制它,并传递给 python 中的 initUndistortRectifyMap(与与 c++ 中的参数相同),但我得到了不同的 map1 和 map2,并且图像仍然被裁剪...
解决方法
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