python opencv畸变图像矫正
燕阳天 人气:0代码:
__Author__ = "Shliang" __Email__ = "shliang0603@gmail.com" import os import cv2 import numpy as np from tqdm import tqdm def undistort(frame): fx = 685.646752 cx = 649.107905 fy = 676.658033 cy = 338.054431 k1, k2, p1, p2, k3 = -0.363219, 0.093818, 0.006178, -0.003714, 0.0 # 相机坐标系到像素坐标系的转换矩阵 k = np.array([ [fx, 0, cx], [0, fy, cy], [0, 0, 1] ]) # 畸变系数 d = np.array([ k1, k2, p1, p2, k3 ]) h, w = frame.shape[:2] mapx, mapy = cv2.initUndistortRectifyMap(k, d, None, k, (w, h), 5) return cv2.remap(frame, mapx, mapy, cv2.INTER_LINEAR) # 对摄像头实时视频流做畸变矫正 def distortion_correction_cam(): cap = cv2.VideoCapture(0) while (cap.isOpened()): ret, frame = cap.read() undistort_frame = undistort(frame) compare = np.hstack((frame, undistort_frame)) cv2.imshow('frame', compare) if cv2.waitKey(1) & 0xFF == ord('q'): break cap.release() cv2.destroyAllWindows() # 对目录下的所有图片做畸变矫正,并把畸变矫正后的图片保存下来 def distortion_correction_imgs(input_dir, output_dir): in_imgs = os.listdir(input_dir) for img_name in tqdm(in_imgs): image = cv2.imread(os.path.join(input_dir, img_name)) distroted_img = undistort(image) cv2.imwrite(os.path.join(output_dir, img_name), distroted_img) if __name__ == '__main__': input_dir = "/home/shl/extract_rosbag_data/0324_bags/plycal_calib/root/images" output_dir = "/home/shl/extract_rosbag_data/0324_bags/plycal_calib/root/distro_imgs" # distortion_correction_imgs(input_dir, output_dir) distortion_correction_cam()
对图片进行矫正效果:
原图:
矫正后的图片:
采集的摄像头画面矫正效果:
从上面的换面可以看到,左边是未矫正的画面
,右边是矫正后的画面
:
矫正后的画面
会被裁切
,明显可以看到画面中的信息是有裁切的,例如左边的椅子已经被裁切掉了- 矫正后的画面和原画面是保持相同的分辨率:
640x480
,但是,为什么会看到画面会出现横向的拉伸
,这是因为标定相机内参
的时候画面的分辨率设置为1280x720=16:9
,但是opencv读取摄像头默认的分辨率却是640x480=4:3
,两者的比例都不一样,所以肯定会出现拉伸
解决拉伸的方式,就是把读取摄像头的时候,把摄像头的分辨率设置成和标定的时候一样的分辨率,设置为1280x720
,下面是如何在opencv读取摄像头的时候设置摄像头分辨率:
# 对摄像头实时视频流做畸变矫正 def distortion_correction_cam(): cap = cv2.VideoCapture(0) # 获取摄像头读取画面的宽和高 width = cap.get(3) height = cap.get(4) fps = cap.get(5) print(width, height, fps) # 640.0 480.0 30.0 # 在这里把摄像头的分辨率修改为和我们标定时使用的一样的分辨率 1280x720 cap.set(3, 1280) cap.set(4, 720) width = cap.get(3) height = cap.get(4) print(width, height, fps) # 1280.0 720.0 30.0 while (cap.isOpened()): ret, frame = cap.read() print(frame.shape) undistort_frame = undistort(frame) compare = np.hstack((frame, undistort_frame)) cv2.imshow('frame', compare) if cv2.waitKey(1) & 0xFF == ord('q'): break cap.release() cv2.destroyAllWindows()
重新设置分辨率后,矫正前后画面对比,可以看到几乎是没有横向或纵向拉伸的!
参考:
https://blog.csdn.net/weixin_40516558/article/details/103494029
https://blog.csdn.net/guaiderzhu1314/article/details/96306509
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