相机校准(cv.calibrateCamera 和 cv.InitUndisdistortionMap)

Question

cv.InitUndistortMap opencv 函数不起作用。我得到了固有和失真矩阵，但我不能使用此值来修复我的图像。我收到此错误：
cv.InitUndistortMap（camera_matrix，distortion_coefs，mapx，mapy）TypeError：参数"cameraMatrix"必须是 CvMat。使用 fromarray（） 将 numpy 数组转换为 CvMat

import numpy as np
import cv2
import cv
import os
import sys, getopt
from glob import glob
def calibracion():
  args, img_mask = getopt.getopt(sys.argv[1:], '', ['save=', 'debug=', 'square_size='])
  args = dict(args)
  img_mask = 'left*.jpg'
  img_names = glob(img_mask)
  debug_dir = args.get('--debug')
  square_size = float(args.get('--square_size', 1.0))
  pattern_size = (9, 6)
  pattern_points = np.zeros( (np.prod(pattern_size), 3), np.float32 )
  pattern_points[:,:2] = np.indices(pattern_size).T.reshape(-1, 2)
  pattern_points *= square_size
  obj_points = []
  img_points = []
  h, w = 0, 0
  for fn in img_names:
      print 'processing %s...' % fn,
      img = cv2.imread(fn, 0)
      h, w = img.shape[:2]
      found, corners = cv2.findChessboardCorners(img, pattern_size)
      if found:
      term = ( cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_COUNT, 30, 0.1 )
      cv2.cornerSubPix(img, corners, (5, 5), (-1, -1), term)
      if debug_dir:
      vis = cv2.cvtColor(img, cv2.COLOR_GRAY2BGR)
      cv2.drawChessboardCorners(vis, pattern_size, corners, found)
      path, name, ext = splitfn(fn)
      cv2.imwrite('%s/%s_chess.bmp' % (debug_dir, name), vis)
      if not found:
      print 'chessboard not found'
      continue
      img_points.append(corners.reshape(-1, 2))
      obj_points.append(pattern_points)
      print 'ok'
  rms, camera_matrix, dist_coefs, rvecs, tvecs = cv2.calibrateCamera(obj_points, img_points, (w, h))
  cv2.destroyAllWindows() 
  return camera_matrix, dist_coefs

if __name__ == '__main__':
  camera_matrix = cv.CreateMat(3, 3, cv.CV_32FC1)
  dist_coefs = cv.CreateMat(4, 1, cv.CV_32FC1)
  camera_matrix , dist_coefs = calibracion()
  print "camera matrix:n", camera_matrix       # intrinsic
  print "distortion coefficients: ", dist_coefs     # distortion
  image=cv.LoadImage('dog.jpeg')
  mapx = cv.CreateImage( cv.GetSize(image), cv.IPL_DEPTH_8U, 1 )
  mapy = cv.CreateImage( cv.GetSize(image), cv.IPL_DEPTH_8U, 1 )
  cv.InitUndistortMap(camera_matrix,dist_coefs,mapx,mapy)
  t = cv.CloneImage(image)
  cv.Remap( t, image, mapx, mapy )
  cv.ShowImage('FOTO', t )
  cv.WaitKey(0)

Answer 1

我无法运行calibration函数，但我认为错误是您在此处替换了变量camera_matrix的值：camera_matrix , dist_coefs = calibracion() . camera_matrix需要像这里这样的 CvMat：camera_matrix = cv.CreateMat(3, 3, cv.CV_32FC1) .如果您注释此行代码：camera_matrix , dist_coefs = calibracion()您将不会再次显示该错误消息。

简而言之：修复calibration功能