opencv 摄像机标定

原图

矫正后

我新建了个jz的文件夹放相机矫正所需要拍摄的图片，如下：共12张

# coding:utf-8import cv2
import numpy as np
import glob
# 找棋盘格角点# 阈值
criteria =(cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER,30,0.001)# 棋盘格模板规格 从0开始计算
w =9
h =6# 世界坐标系中的棋盘格点,例如(0,0,0), (1,0,0), (2,0,0) ....,(8,5,0)，去掉Z坐标，记为二维矩阵
objp = np.zeros((w * h,3), np.float32)
objp[:,:2]= np.mgrid[0:w,0:h].T.reshape(-1,2)# 储存棋盘格角点的世界坐标和图像坐标对
objpoints =[]# 在世界坐标系中的三维点
imgpoints =[]# 在图像平面的二维点# 匹配读取文件夹内的特定文件
images = glob.glob('jz/*.jpg')for fname in images:
    img = cv2.imread(fname)
    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)# 找到棋盘格角点
    ret, corners = cv2.findChessboardCorners(gray,(w, h),None)# 将角点在图像上显示
    cv2.drawChessboardCorners(img,(w, h), corners, ret)
    cv2.imshow('findCorners', img)
    cv2.waitKey(500)
    cv2.destroyAllWindows()# 如果找到足够点对，将其存储起来if ret ==True:
        cv2.cornerSubPix(gray, corners,(11,11),(-1,-1), criteria)
        objpoints.append(objp)
        imgpoints.append(corners)# 标定
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1],None,None)# 在应用时，将下面两个写死print(mtx)print(dist)# 去畸变
img2 = cv2.imread('77.jpg')
h, w = img2.shape[:2]
newcameramtx, roi = cv2.getOptimalNewCameraMatrix(mtx, dist,(w, h),0,(w, h))# 自由比例参数
dst = cv2.undistort(img2, mtx, dist,None, newcameramtx)# 根据前面ROI区域裁剪图片# x,y,w,h = roi# dst = dst[y:y+h, x:x+w]
cv2.imwrite('1.jpg', dst)
cv2.imshow('findCorners', dst)
cv2.waitKey(0)
cv2.destroyAllWindows()