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run.py
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# -*- coding: utf-8 -*-
# @Time : 2021/08/09 13:43
# @Author : yunshan
# @File : run.py
import cv2
import numpy as np
img = cv2.imread('left_img/0.png')
gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
img_size = gray.shape[::-1]
image_position = np.array([[760.0396118164062, 1165.35498046875], [812.6103515625, 1159.9296875], [865.263427734375, 1154.4588623046875], [918.0045166015625, 1148.993896484375], [970.7626953125, 1143.524658203125], [1023.5965576171875, 1138.0333251953125], [1076.5220947265625, 1132.5582275390625], [765.6646728515625, 1217.9595947265625], [818.2499389648438, 1212.5640869140625], [870.8987426757812, 1207.13330078125], [923.6265258789062, 1201.723388671875], [976.38623046875, 1196.310791015625], [1029.1619873046875, 1190.90478515625], [1082.20361328125, 1185.4554443359375], [771.4293212890625, 1270.849609375], [824.0032348632812, 1265.4998779296875], [876.663818359375, 1260.115966796875], [929.3221435546875, 1254.7001953125], [982.0464477539062, 1249.2806396484375], [1034.8670654296875, 1243.889892578125], [1087.7308349609375, 1238.400390625], [777.1517333984375, 1323.7344970703125], [829.7005004882812, 1318.412353515625], [882.31689453125, 1313.037109375], [935.0123291015625, 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0.0], [5.0, 12.5, 0.0], [5.0, 15.0, 0.0], [7.5, 0.0, 0.0], [7.5, 2.5, 0.0], [7.5, 5.0, 0.0], [7.5, 7.5, 0.0], [7.5, 10.0, 0.0], [7.5, 12.5, 0.0], [7.5, 15.0, 0.0], [10.0, 0.0, 0.0], [10.0, 2.5, 0.0], [10.0, 5.0, 0.0], [10.0, 7.5, 0.0], [10.0, 10.0, 0.0], [10.0, 12.5, 0.0], [10.0, 15.0, 0.0], [12.5, 0.0, 0.0], [12.5, 2.5, 0.0], [12.5, 5.0, 0.0], [12.5, 7.5, 0.0], [12.5, 10.0, 0.0], [12.5, 12.5, 0.0], [12.5, 15.0, 0.0], [15.0, 0.0, 0.0], [15.0, 2.5, 0.0], [15.0, 5.0, 0.0], [15.0, 7.5, 0.0], [15.0, 10.0, 0.0], [15.0, 12.5, 0.0], [15.0, 15.0, 0.0]])
image_position = np.array(image_position).reshape(12, 49, 1, 2).astype(np.float32)
object_position = np.array(object_position).reshape(12, 49, 1, 3).astype(np.float32)
ret,mtx,dist,rvecs,tvecs = cv2.calibrateCamera(object_position,image_position,img_size,None,None)
print("mtx 内参数矩阵:\n", mtx) # 内参数矩阵
print(
"dist 畸变系数:\n", dist
) # 畸变系数 distortion cofficients = (k_1,k_2,p_1,p_2,k_3)
print("rvecs 旋转向量:\n", rvecs) # 旋转向量 # 外参数
print("tvecs 平移向量:\n", tvecs) # 平移向量 # 外参数