更新 Docx/双目标定.md
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Docx/双目标定.md
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Docx/双目标定.md
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## 双目标定过程 ##
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1. **获取棋盘格图片**
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要进行标定，首先需要双目拍摄的各种角度的棋盘格图片，左右图像各不少于20张，棋盘格文件在同级目录下。
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由于该双目摄像头只有一个设备号，拍出照片为左右图像堆叠的形式，故在拍摄完照片之后还需要将左右图像分割出来分别保存到左右图片文件夹中。分割代码如下（代码为Code/stereo.py）：
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```python
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import cv2
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import os
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# 定义输入文件夹路径和输出文件夹路径
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input_folder = 'images' # 替换为你的输入文件夹路径
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output_folder_left = 'left'
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output_folder_right = 'right'
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# 创建输出文件夹，如果不存在则创建
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if not os.path.exists(output_folder_left):
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os.makedirs(output_folder_left)
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if not os.path.exists(output_folder_right):
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os.makedirs(output_folder_right)
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# 遍历输入文件夹中的所有图片
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for filename in os.listdir(input_folder):
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if filename.endswith(".png") or filename.endswith(".jpg"):
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# 构建图片的完整路径
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img_path = os.path.join(input_folder, filename)
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# 读取图片
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image = cv2.imread(img_path)
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if image is None:
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print(f"无法读取图像文件: {filename}")
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continue
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# 获取图片的高度和宽度
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height, width, _ = image.shape
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# 计算左右图像的宽度
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half_width = width // 2
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# 切割出左半部分和右半部分图像
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left_image = image[:, :half_width]
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right_image = image[:, half_width:]
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# 构建保存路径
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left_image_path = os.path.join(output_folder_left, f"left_{filename}")
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right_image_path = os.path.join(output_folder_right, f"right_{filename}")
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# 保存左右图像
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cv2.imwrite(left_image_path, left_image)
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cv2.imwrite(right_image_path, right_image)
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print(f"已保存：{left_image_path} 和 {right_image_path}")
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print("所有图像已处理完成！")
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```
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左摄像头图片如下： 右摄像头图片如下：
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2. **标定**
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首先调用OpenCV库函数对左右相机分别进行单目标定得到每个相机的内参矩阵：
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```python
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print('开始左相机标定')
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ret_l = calibrate_camera(object_points, corners_left, imgsize) #object_points表示标定板上检测到的棋盘格角点的三维坐标；corners_left[i]表示棋盘格角点在图像中的二维坐标；imgsize表示图像大小
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retval_l, cameraMatrix_l, distCoeffs_l, rvecs_l, tvecs_l = ret_l[:5] #返回值里就包含了标定的参数
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print('开始右相机标定')
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ret_r = calibrate_camera(object_points, corners_right, imgsize)
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retval_r, cameraMatrix_r, distCoeffs_r, rvecs_r, tvecs_r = ret_r[:5]
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```
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然后进行立体标定（双目标定），得到左右相机的外参：旋转矩阵、平移矩阵、本质矩阵、基本矩阵：
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```python
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criteria_stereo = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 1e-5)
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ret_stereo = cv2.stereoCalibrate(object_points, corners_left, corners_right,
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cameraMatrix_l, distCoeffs_l,
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cameraMatrix_r, distCoeffs_r,
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imgsize, criteria=criteria_stereo,
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flags=cv2.CALIB_FIX_INTRINSIC)
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ret, _, _, _, _, R, T, E, F = ret_stereo
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```
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完整代码位于Code/biaoding.py
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3. **矫正**
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利用标定得到相机内外参对图像进行矫正（去畸变等）：
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```python
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R1, R2, P1, P2, Q, roi1, roi2 = cv2.stereoRectify(cameraMatrix_l, distCoeffs_l,
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cameraMatrix_r, distCoeffs_r,
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img_size, R, T)
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# 计算映射参数
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map1_l, map2_l = cv2.initUndistortRectifyMap(cameraMatrix_l, distCoeffs_l, R1, P1, img_size, cv2.CV_32FC1)
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map1_r, map2_r = cv2.initUndistortRectifyMap(cameraMatrix_r, distCoeffs_r, R2, P2, img_size, cv2.CV_32FC1)
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# 应用映射并显示结果
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rectified_img_l = cv2.remap(img_left, map1_l, map2_l, cv2.INTER_LINEAR)
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rectified_img_r = cv2.remap(img_right, map1_r, map2_r, cv2.INTER_LINEAR)
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# 合并图像显示
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combined_img = np.hstack((rectified_img_l, rectified_img_r))
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cv2.imshow('Rectified Images', combined_img)
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cv2.waitKey(0)
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cv2.destroyAllWindows()
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```
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## 双目标定过程 ##
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1. **获取棋盘格图片**
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要进行标定，首先需要双目拍摄的各种角度的棋盘格图片，左右图像各不少于20张，棋盘格文件在同级目录下。
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由于该双目摄像头只有一个设备号，拍出照片为左右图像堆叠的形式，故在拍摄完照片之后还需要将左右图像分割出来分别保存到左右图片文件夹中。分割代码如下（代码为Code/stereo.py）：
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```python
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import cv2
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import os
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# 定义输入文件夹路径和输出文件夹路径
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input_folder = 'images' # 替换为你的输入文件夹路径
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output_folder_left = 'left'
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output_folder_right = 'right'
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# 创建输出文件夹，如果不存在则创建
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if not os.path.exists(output_folder_left):
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os.makedirs(output_folder_left)
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if not os.path.exists(output_folder_right):
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os.makedirs(output_folder_right)
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# 遍历输入文件夹中的所有图片
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for filename in os.listdir(input_folder):
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if filename.endswith(".png") or filename.endswith(".jpg"):
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# 构建图片的完整路径
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img_path = os.path.join(input_folder, filename)
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# 读取图片
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image = cv2.imread(img_path)
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if image is None:
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print(f"无法读取图像文件: {filename}")
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continue
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# 获取图片的高度和宽度
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height, width, _ = image.shape
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# 计算左右图像的宽度
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half_width = width // 2
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# 切割出左半部分和右半部分图像
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left_image = image[:, :half_width]
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right_image = image[:, half_width:]
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# 构建保存路径
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left_image_path = os.path.join(output_folder_left, f"left_{filename}")
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right_image_path = os.path.join(output_folder_right, f"right_{filename}")
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# 保存左右图像
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cv2.imwrite(left_image_path, left_image)
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cv2.imwrite(right_image_path, right_image)
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print(f"已保存：{left_image_path} 和 {right_image_path}")
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print("所有图像已处理完成！")
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```
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左摄像头图片如下： 右摄像头图片如下：
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2. **标定**
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首先调用OpenCV库函数对左右相机分别进行单目标定得到每个相机的内参矩阵：
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```python
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print('开始左相机标定')
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ret_l = calibrate_camera(object_points, corners_left, imgsize) #object_points表示标定板上检测到的棋盘格角点的三维坐标；corners_left[i]表示棋盘格角点在图像中的二维坐标；imgsize表示图像大小
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retval_l, cameraMatrix_l, distCoeffs_l, rvecs_l, tvecs_l = ret_l[:5] #返回值里就包含了标定的参数
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print('开始右相机标定')
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ret_r = calibrate_camera(object_points, corners_right, imgsize)
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retval_r, cameraMatrix_r, distCoeffs_r, rvecs_r, tvecs_r = ret_r[:5]
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```
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然后进行立体标定（双目标定），得到左右相机的外参：旋转矩阵、平移矩阵、本质矩阵、基本矩阵：
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```python
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criteria_stereo = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 1e-5)
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ret_stereo = cv2.stereoCalibrate(object_points, corners_left, corners_right,
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cameraMatrix_l, distCoeffs_l,
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cameraMatrix_r, distCoeffs_r,
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imgsize, criteria=criteria_stereo,
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flags=cv2.CALIB_FIX_INTRINSIC)
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ret, _, _, _, _, R, T, E, F = ret_stereo
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```
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完整代码位于Code/biaoding.py
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3. **矫正**
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利用标定得到相机内外参对图像进行矫正（去畸变等）：
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```python
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R1, R2, P1, P2, Q, roi1, roi2 = cv2.stereoRectify(cameraMatrix_l, distCoeffs_l,
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cameraMatrix_r, distCoeffs_r,
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img_size, R, T)
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# 计算映射参数
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map1_l, map2_l = cv2.initUndistortRectifyMap(cameraMatrix_l, distCoeffs_l, R1, P1, img_size, cv2.CV_32FC1)
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map1_r, map2_r = cv2.initUndistortRectifyMap(cameraMatrix_r, distCoeffs_r, R2, P2, img_size, cv2.CV_32FC1)
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# 应用映射并显示结果
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rectified_img_l = cv2.remap(img_left, map1_l, map2_l, cv2.INTER_LINEAR)
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rectified_img_r = cv2.remap(img_right, map1_r, map2_r, cv2.INTER_LINEAR)
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# 合并图像显示
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combined_img = np.hstack((rectified_img_l, rectified_img_r))
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cv2.imshow('Rectified Images', combined_img)
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cv2.waitKey(0)
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cv2.destroyAllWindows()
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```
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得到的标定结果如下所示：
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完整代码位于Code/rectify.py
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