image_utils.py 文件源码

def calculate_camera_calibration(calib_path, rows, cols, cal_image_size):
    """Calculates the camera calibration based on chessboard images.

    Args:
        calib_path: calibration data (imgs) dir path
        rows: number of rows on chessboard
        cols: number of columns on chessboard

    Returns:
        a `dict` with calibration points
    """
    objp = np.zeros((rows * cols, 3), np.float32)
    objp[:, :2] = np.mgrid[0:cols, 0:rows].T.reshape(-1, 2)

    objpoints = []
    imgpoints = []

    images = glob(calib_path)
    cal_images = np.zeros((len(images), *cal_image_size), dtype=np.uint8)

    successfull_cnt = 0
    for idx, fname in enumerate(tqdm(images, desc='Processing image')):
        img = scipy.misc.imread(fname)
        if img.shape[0] != cal_image_size[0] or img.shape[1] != cal_image_size[1]:
            img = scipy.misc.imresize(img, cal_image_size)

        gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)
        ret, corners = cv2.findChessboardCorners(gray, (cols, rows), None)

        if ret:
            successfull_cnt += 1

            objpoints.append(objp)
            imgpoints.append(corners)

            img = cv2.drawChessboardCorners(img, (cols, rows), corners, ret)
            cal_images[idx] = img

    print("%s/%s camera calibration images processed." %
          (successfull_cnt, len(images)))

    ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(
        objpoints, imgpoints, cal_image_size[:-1], None, None)

    calibration = {'objpoints': objpoints,
                   'imgpoints': imgpoints,
                   'cal_images': cal_images,
                   'mtx': mtx,
                   'dist': dist,
                   'rvecs': rvecs,
                   'tvecs': tvecs}

    return calibration