200 lines
7.3 KiB
Python
200 lines
7.3 KiB
Python
import os
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import os.path as osp
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import glob
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import cv2 as cv
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import numpy as np
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import json
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import datetime
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import argparse
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from tqdm import tqdm
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def format_json_data(mtx, dist, image_shape, error):
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data = {
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"time": datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S"),
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"K": mtx.tolist(),
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"dist": dist.tolist(),
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"image_shape": image_shape,
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"error": error
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}
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return data
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def write_json(data, output_path):
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with open(output_path, "w") as f:
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json.dump(data, f, indent=4)
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def read_json(input):
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with open(input, "r") as f:
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data = json.load(f)
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return data
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def read_img_paths(imgFolder):
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imgPaths = []
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for extension in ["jpg", "png", "jpeg", "bmp"]:
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imgPaths += glob.glob(osp.join(imgFolder, "*.{}".format(extension)))
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return imgPaths
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def create_output_folder(baseFolder, outputFolder):
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folder = osp.join(baseFolder, outputFolder)
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if not osp.exists(folder):
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os.makedirs(folder)
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return folder
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base_path = "data"
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intri_img_path = osp.join(base_path, "chessboard", "intri")
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intri_vis_path = osp.join(base_path, "vis", "intri")
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json_output_path = osp.join(base_path, 'output_json')
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distortion_images_path = osp.join(base_path, "distortion_images")
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def calibrate_camera(camera, chessboardSize, squareSize, visualization):
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# 设置输出目录
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if visualization:
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outputFolder = create_output_folder(intri_vis_path, osp.basename(camera))
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# 图片路径
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imgPaths = read_img_paths(camera)
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if len(imgPaths) == 0:
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print("No images found!\n")
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return
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# 存储世界坐标和像素坐标
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# 计算出棋盘格中每个网格角点的坐标，之后当成世界坐标
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board_w, board_h = chessboardSize
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board_grid = np.zeros((board_w * board_h, 3), np.float32)
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board_grid[:, :2] = np.mgrid[0:board_w, 0:board_h].T.reshape(-1, 2) * squareSize
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pointsWorld = []
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pointsPixel = []
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# 遍历图片
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for imgPath in imgPaths:
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img = cv.imread(imgPath)
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gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
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# 查找角点
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ret, corners = cv.findChessboardCorners(gray, (board_w, board_h), None)
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if ret:
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cv.cornerSubPix(gray, corners, (11, 11), (-1, -1),
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(cv.TERM_CRITERIA_EPS + cv.TERM_CRITERIA_MAX_ITER, 30, 0.001))
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pointsWorld.append(board_grid)
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pointsPixel.append(corners)
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if visualization:
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cv.drawChessboardCorners(img, (board_w, board_h), corners, ret)
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cv.imwrite(osp.join(outputFolder, osp.basename(imgPath)), img)
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# 标定相机
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image_shape = gray.shape[::-1]
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ret, mtx, dist, rvecs, tvecs = cv.calibrateCamera(pointsWorld, pointsPixel, image_shape, None, None)
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# print("Intrinsic matrix:\n", mtx.astype(np.float32))
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# print("Distortion coefficients:\n", dist.astype(np.float32))
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# 计算重投影误差
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nimg = len(pointsWorld)
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img_error = np.zeros(nimg)
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for i in range(nimg):
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imgpoints2, _ = cv.projectPoints(pointsWorld[i], rvecs[i], tvecs[i], mtx, dist)
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error = cv.norm(pointsPixel[i], imgpoints2, cv.NORM_L2) / len(imgpoints2)
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img_error[i] = error
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# good_img = np.where(img_error < 0.5)[0]
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# mean_error = np.mean(img_error[good_img])
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mean_error = np.mean(img_error)
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print("Reprojection error: ", mean_error)
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# 挑选出重投影误差小于1.0的图片，重新标定相机
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# if len(good_img) == 0:
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# print("No images with error < 0.5")
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# elif len(good_img) == nimg:
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# print("All images have error < 0.5")
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# pass
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# else:
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# pointsWorld2 = [pointsWorld[i] for i in good_img]
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# pointsPixel2 = [pointsPixel[i] for i in good_img]
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# ret, mtx, dist, rvecs, tvecs = cv.calibrateCamera(pointsWorld2, pointsPixel2, image_shape, None, None)
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# print("Intrinsic matrix:\n", mtx.astype(np.float32))
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# print("Distortion coefficients:\n", dist.astype(np.float32))
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# data = format_json_data(mtx, dist, image_shape)
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# # 在文件夹根目录下保存相机内参
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# outputJsonPath = osp.join(baseFolder, "intri_calib.json")
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# write_json(data, outputJsonPath)
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return mtx, dist, image_shape, mean_error
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# calibrate_cameras函数中，照片按照相机编号进行分类
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# baseFolder: 包含图片和输出数据的文件夹，默认是./data，可以通过--folder参数指定
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def calibrate_cameras(chessboardSize, squareSize, visualization):
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cameras_path = glob.glob(osp.join(intri_img_path, "cam[0-7]"))
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if len(cameras_path) == 0:
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print("No camera folders found!")
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return
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data = {}
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for camera_path in tqdm(cameras_path, desc="Processing Cameras", ncols=100):
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cameraId = osp.basename(camera_path)
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print("\nCalibrating camera {}... ".format(cameraId))
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mtx, dist, image_shape, error = calibrate_camera(camera_path, chessboardSize, squareSize, visualization)
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data[cameraId] = format_json_data(mtx, dist, image_shape, error)
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write_json(data, osp.join(json_output_path, "intri.json"))
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print("Calibration data saved to: ", osp.join(json_output_path, "intri.json"))
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# 去除图像畸变
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def remove_image_distortion(img, mtx, dist):
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h, w = img.shape[:2]
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newcameramtx, roi = cv.getOptimalNewCameraMatrix(mtx, dist, (w, h), 1, (w, h))
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dst = cv.undistort(img, mtx, dist, None, newcameramtx)
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x, y, w, h = roi
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dst = dst[y:y + h, x:x + w]
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return dst
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# 用于去除整个文件夹中的图像畸变，保存到文件夹下的distortion_corrected_images文件夹中
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def remove_images_distortion(mtx, dist):
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imgPaths = read_img_paths(distortion_images_path)
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if len(imgPaths) == 0:
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print("No images found!")
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return
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outputFolder = create_output_folder(distortion_images_path, "output_images")
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for imgPath in imgPaths:
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img = cv.imread(imgPath)
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dst = remove_image_distortion(img, mtx, dist)
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cv.imwrite(osp.join(outputFolder, osp.basename(imgPath)), dst)
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print("Distortion corrected images saved to: ", outputFolder)
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description="相机内参标定和图像去畸变")
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parser.add_argument("--action", type=str, required=True, choices=["cameras", "distortion"],
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help=" --action cameras: 标定多个相机"
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" --action distortion: 去除图像畸变")
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parser.add_argument("--chessboardSize", type=str, default="11,8",
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help="棋盘格角点数 (列数, 行数)，例如 '11,8'")
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parser.add_argument("--squareSize", type=float, default=60.0,
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help="棋盘格方块的实际边长（单位与数据一致，例如 mm 或 m）")
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parser.add_argument("--no-vis", dest="vis", action="store_false", help="禁用标定结果的可视化输出")
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args = parser.parse_args()
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chessboardSize = tuple(map(int, args.chessboardSize.split(",")))
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if args.action == "cameras":
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calibrate_cameras(chessboardSize, args.squareSize, args.vis)
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elif args.action == "distortion":
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print("Removing image distortion, require input folder")
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data = read_json(osp.join(json_output_path, "intri.json"))
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mtx = np.array(data["K"])
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dist = np.array(data["dist"])
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remove_images_distortion(mtx, dist)
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else:
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print("Invalid action!")
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parser.print_help()
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