├── .gitignore ├── 01-01_calibrateCamera.py ├── 01-02_undistort.py ├── 02-01_fisheyeCalibrateCamera.py ├── 02-02_fisheyeUndistort.py ├── 03-01_omnidirCalibrateCamera.py ├── 03-02_omnidirUndistort.py ├── LICENSE ├── README.md └── chesspattern_7x10.pdf /.gitignore: -------------------------------------------------------------------------------- 1 | # Byte-compiled / optimized / DLL files 2 | __pycache__/ 3 | *.py[cod] 4 | *$py.class 5 | 6 | # C extensions 7 | *.so 8 | 9 | # Distribution / packaging 10 | .Python 11 | build/ 12 | develop-eggs/ 13 | dist/ 14 | downloads/ 15 | eggs/ 16 | .eggs/ 17 | lib/ 18 | lib64/ 19 | parts/ 20 | sdist/ 21 | var/ 22 | wheels/ 23 | pip-wheel-metadata/ 24 | share/python-wheels/ 25 | *.egg-info/ 26 | .installed.cfg 27 | *.egg 28 | MANIFEST 29 | 30 | # PyInstaller 31 | # Usually these files are written by a python script from a template 32 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 33 | *.manifest 34 | *.spec 35 | 36 | # 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having no cross-platform support, pipenv may install dependencies that don't work, or not 91 | # install all needed dependencies. 92 | #Pipfile.lock 93 | 94 | # PEP 582; used by e.g. github.com/David-OConnor/pyflow 95 | __pypackages__/ 96 | 97 | # Celery stuff 98 | celerybeat-schedule 99 | celerybeat.pid 100 | 101 | # SageMath parsed files 102 | *.sage.py 103 | 104 | # Environments 105 | .env 106 | .venv 107 | env/ 108 | venv/ 109 | ENV/ 110 | env.bak/ 111 | venv.bak/ 112 | 113 | # Spyder project settings 114 | .spyderproject 115 | .spyproject 116 | 117 | # Rope project settings 118 | .ropeproject 119 | 120 | # mkdocs documentation 121 | /site 122 | 123 | # mypy 124 | .mypy_cache/ 125 | .dmypy.json 126 | dmypy.json 127 | 128 | # Pyre type checker 129 | .pyre/ 130 | -------------------------------------------------------------------------------- /01-01_calibrateCamera.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: utf-8 -*- 3 | import argparse 4 | 5 | import cv2 as cv 6 | import numpy as np 7 | 8 | 9 | def get_args(): 10 | parser = argparse.ArgumentParser() 11 | 12 | parser.add_argument("--device", type=int, default=0) 13 | parser.add_argument("--file", type=str, default=None) 14 | parser.add_argument("--width", type=int, default=640) 15 | parser.add_argument("--height", type=int, default=360) 16 | 17 | parser.add_argument("--square_len", type=float, default=23.0) 18 | parser.add_argument("--grid_size", type=str, default="10,7") 19 | 20 | parser.add_argument("--k_filename", type=str, default="K.csv") 21 | parser.add_argument("--d_filename", type=str, default="d.csv") 22 | 23 | parser.add_argument("--interval_time", type=int, default=500) 24 | parser.add_argument('--use_autoappend', action='store_true') 25 | 26 | args = parser.parse_args() 27 | 28 | return args 29 | 30 | 31 | def main(): 32 | # コマンドライン引数 33 | args = get_args() 34 | 35 | cap_device = args.device 36 | filepath = args.file 37 | cap_width = args.width 38 | cap_height = args.height 39 | 40 | # カメラ準備 41 | cap = None 42 | if filepath is None: 43 | cap = cv.VideoCapture(cap_device, cv.CAP_DSHOW) 44 | cap.set(cv.CAP_PROP_FRAME_WIDTH, cap_width) 45 | cap.set(cv.CAP_PROP_FRAME_HEIGHT, cap_height) 46 | else: 47 | cap = cv.VideoCapture(filepath) 48 | 49 | square_side_length = args.square_len # チェスボード内の正方形の1辺のサイズ(mm) 50 | grid_intersection_size = eval(args.grid_size) # チェスボード内の格子数 51 | 52 | k_filename = args.k_filename 53 | d_filename = args.d_filename 54 | 55 | interval_time = args.interval_time 56 | use_autoappend = args.use_autoappend 57 | if use_autoappend is False: 58 | interval_time = 10 59 | 60 | # チェスボードコーナー検出情報 保持用変数 61 | pattern_points = np.zeros((np.prod(grid_intersection_size), 3), np.float32) 62 | pattern_points[:, :2] = np.indices(grid_intersection_size).T.reshape(-1, 2) 63 | pattern_points *= square_side_length 64 | object_points = [] 65 | image_points = [] 66 | 67 | camera_mat, dist_coef = [], [] 68 | 69 | capture_count = 0 70 | while (True): 71 | ret, frame = cap.read() 72 | 73 | # チェスボードのコーナーを検出 74 | found, corner = cv.findChessboardCorners(frame, grid_intersection_size) 75 | 76 | if found: 77 | print('findChessboardCorners() : True') 78 | cv.drawChessboardCorners(frame, grid_intersection_size, corner, 79 | found) 80 | else: 81 | print('findChessboardCorners() : False') 82 | 83 | cv.putText(frame, 84 | "Enter:Capture Chessboard(" + str(capture_count) + ")", 85 | (10, 30), cv.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 1) 86 | cv.putText(frame, "ESC :Completes Calibration Photographing", (10, 55), 87 | cv.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 1) 88 | cv.imshow('original', frame) 89 | 90 | key = cv.waitKey(interval_time) & 0xFF 91 | if ((use_autoappend is True) and found) or ( 92 | (use_autoappend is False and key == 13) and found): # Enter 93 | # チェスボードコーナー検出情報を追加 94 | image_points.append(corner) 95 | object_points.append(pattern_points) 96 | capture_count += 1 97 | if key == 27: # ESC 98 | cap.release() 99 | cv.destroyAllWindows() 100 | break 101 | 102 | if len(image_points) > 0: 103 | # カメラ内部パラメータを計算 104 | print('calibrateCamera()') 105 | rms, K, d, r, t = cv.calibrateCamera(object_points, image_points, 106 | (frame.shape[1], frame.shape[0]), 107 | None, None) 108 | print("RMS = " + str(rms)) 109 | print("K = \n", K) 110 | print("d = " + str(d.ravel())) 111 | np.savetxt(k_filename, K, delimiter=',', fmt="%0.14f") # 半径方向の歪み係数の保存 112 | np.savetxt(d_filename, d, delimiter=',', fmt="%0.14f") # 円周方向の歪み係数の保存 113 | 114 | camera_mat = K 115 | dist_coef = d 116 | 117 | # 再投影誤差による評価 118 | mean_error = 0 119 | for i in range(len(object_points)): 120 | image_points2, _ = cv.projectPoints(object_points[i], r[i], t[i], 121 | camera_mat, dist_coef) 122 | error = cv.norm(image_points[i], image_points2, 123 | cv.NORM_L2) / len(image_points2) 124 | mean_error += error 125 | print("total error: " + 126 | str(mean_error / len(object_points))) # 0に近い値が望ましい 127 | else: 128 | print("findChessboardCorners() not be successful once") 129 | 130 | cap.release() 131 | cv.destroyAllWindows() 132 | 133 | 134 | if __name__ == '__main__': 135 | main() 136 | -------------------------------------------------------------------------------- /01-02_undistort.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: utf-8 -*- 3 | import argparse 4 | 5 | import cv2 as cv 6 | import numpy as np 7 | 8 | 9 | def get_args(): 10 | parser = argparse.ArgumentParser() 11 | 12 | parser.add_argument("--device", type=int, default=0) 13 | parser.add_argument("--file", type=str, default=None) 14 | parser.add_argument("--width", type=int, default=640) 15 | parser.add_argument("--height", type=int, default=360) 16 | 17 | parser.add_argument("--k_new_param", type=float, default=1.0) 18 | 19 | parser.add_argument("--k_filename", type=str, default="K.csv") 20 | parser.add_argument("--d_filename", type=str, default="d.csv") 21 | 22 | args = parser.parse_args() 23 | 24 | return args 25 | 26 | 27 | def main(): 28 | # コマンドライン引数 29 | args = get_args() 30 | 31 | cap_device = args.device 32 | filepath = args.file 33 | cap_width = args.width 34 | cap_height = args.height 35 | 36 | k_new_param = args.k_new_param 37 | 38 | k_filename = args.k_filename 39 | d_filename = args.d_filename 40 | 41 | # カメラ準備 42 | cap = None 43 | if filepath is None: 44 | cap = cv.VideoCapture(cap_device) 45 | cap.set(cv.CAP_PROP_FRAME_WIDTH, cap_width) 46 | cap.set(cv.CAP_PROP_FRAME_HEIGHT, cap_height) 47 | else: 48 | cap = cv.VideoCapture(filepath) 49 | 50 | # キャリブレーションデータの読み込み 51 | camera_mat = np.loadtxt(k_filename, delimiter=',') 52 | dist_coef = np.loadtxt(d_filename, delimiter=',') 53 | 54 | new_camera_mat = camera_mat.copy() 55 | new_camera_mat[(0, 1), (0, 1)] = k_new_param * new_camera_mat[(0, 1), 56 | (0, 1)] 57 | 58 | while (True): 59 | ret, frame = cap.read() 60 | undistort_image = cv.undistort( 61 | frame, 62 | camera_mat, 63 | dist_coef, 64 | new_camera_mat, 65 | ) 66 | 67 | cv.imshow('original', frame) 68 | cv.imshow('undistort', undistort_image) 69 | 70 | key = cv.waitKey(1) & 0xFF 71 | if key == 27: # ESC 72 | cap.release() 73 | cv.destroyAllWindows() 74 | break 75 | 76 | cap.release() 77 | cv.destroyAllWindows() 78 | 79 | 80 | if __name__ == '__main__': 81 | main() 82 | -------------------------------------------------------------------------------- /02-01_fisheyeCalibrateCamera.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: utf-8 -*- 3 | import argparse 4 | 5 | import cv2 as cv 6 | import numpy as np 7 | 8 | 9 | def get_args(): 10 | parser = argparse.ArgumentParser() 11 | 12 | parser.add_argument("--device", type=int, default=0) 13 | parser.add_argument("--file", type=str, default=None) 14 | parser.add_argument("--width", type=int, default=640) 15 | parser.add_argument("--height", type=int, default=360) 16 | 17 | parser.add_argument("--square_len", type=float, default=23.0) 18 | parser.add_argument("--grid_size", type=str, default="10,7") 19 | 20 | parser.add_argument("--k_filename", type=str, default="K_fisheye.csv") 21 | parser.add_argument("--d_filename", type=str, default="d_fisheye.csv") 22 | 23 | parser.add_argument("--interval_time", type=int, default=500) 24 | parser.add_argument('--use_autoappend', action='store_true') 25 | 26 | args = parser.parse_args() 27 | 28 | return args 29 | 30 | 31 | def main(): 32 | # コマンドライン引数 33 | args = get_args() 34 | 35 | cap_device = args.device 36 | filepath = args.file 37 | cap_width = args.width 38 | cap_height = args.height 39 | 40 | # カメラ準備 41 | cap = None 42 | if filepath is None: 43 | cap = cv.VideoCapture(cap_device) 44 | cap.set(cv.CAP_PROP_FRAME_WIDTH, cap_width) 45 | cap.set(cv.CAP_PROP_FRAME_HEIGHT, cap_height) 46 | else: 47 | cap = cv.VideoCapture(filepath) 48 | 49 | square_side_length = args.square_len # チェスボード内の正方形の1辺のサイズ(mm) 50 | grid_intersection_size = eval(args.grid_size) # チェスボード内の格子数 51 | 52 | k_filename = args.k_filename 53 | d_filename = args.d_filename 54 | 55 | interval_time = args.interval_time 56 | use_autoappend = args.use_autoappend 57 | if use_autoappend is False: 58 | interval_time = 10 59 | 60 | # チェスボードコーナー検出情報 保持用変数 61 | pattern_points = np.zeros((1, np.prod(grid_intersection_size), 3), 62 | np.float32) 63 | pattern_points[0, :, :2] = np.indices(grid_intersection_size).T.reshape( 64 | -1, 2) 65 | pattern_points *= square_side_length 66 | object_points = [] 67 | image_points = [] 68 | 69 | subpix_criteria = (cv.TERM_CRITERIA_EPS + cv.TERM_CRITERIA_MAX_ITER, 30, 70 | 0.1) 71 | 72 | capture_count = 0 73 | while (True): 74 | ret, frame = cap.read() 75 | 76 | # チェスボードのコーナーを検出 77 | found, corner = cv.findChessboardCorners(frame, grid_intersection_size) 78 | 79 | if found: 80 | print('findChessboardCorners() : True') 81 | cv.drawChessboardCorners(frame, grid_intersection_size, corner, 82 | found) 83 | else: 84 | print('findChessboardCorners() : False') 85 | 86 | cv.putText(frame, 87 | "Enter:Capture Chessboard(" + str(capture_count) + ")", 88 | (10, 30), cv.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 1) 89 | cv.putText(frame, "ESC :Completes Calibration Photographing", (10, 55), 90 | cv.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 1) 91 | cv.imshow('original', frame) 92 | 93 | key = cv.waitKey(interval_time) & 0xFF 94 | if ((use_autoappend is True) and found) or ( 95 | (use_autoappend is False and key == 13) and found): # Enter 96 | # チェスボードコーナー検出情報を追加 97 | gray_image = cv.cvtColor(frame, cv.COLOR_BGR2GRAY) 98 | cv.cornerSubPix(gray_image, corner, (3, 3), (-1, -1), 99 | subpix_criteria) 100 | image_points.append(corner) 101 | object_points.append(pattern_points) 102 | capture_count += 1 103 | if key == 27: # ESC 104 | cap.release() 105 | cv.destroyAllWindows() 106 | break 107 | 108 | if len(image_points) > 0: 109 | # カメラ内部パラメータを計算 110 | print('fisheye.calibrate()') 111 | 112 | # calibration_flags = cv.fisheye.CALIB_RECOMPUTE_EXTRINSIC + cv.fisheye.CALIB_CHECK_COND + cv.fisheye.CALIB_FIX_SKEW 113 | calibration_flags = cv.fisheye.CALIB_RECOMPUTE_EXTRINSIC + cv.fisheye.CALIB_FIX_SKEW 114 | 115 | K = np.zeros((3, 3)) 116 | d = np.zeros((4, 1)) 117 | rvecs = [ 118 | np.zeros((1, 1, 3), dtype=np.float64) 119 | for i in range(len(image_points)) 120 | ] 121 | tvecs = [ 122 | np.zeros((1, 1, 3), dtype=np.float64) 123 | for i in range(len(image_points)) 124 | ] 125 | rms, K, d, r, t = \ 126 | cv.fisheye.calibrate( 127 | object_points, 128 | image_points, 129 | gray_image.shape[::-1], 130 | K, 131 | d, 132 | rvecs, 133 | tvecs, 134 | calibration_flags, 135 | (cv.TERM_CRITERIA_EPS + cv.TERM_CRITERIA_MAX_ITER, 30, 1e-6) 136 | ) 137 | print("RMS = " + str(rms)) 138 | print("Shape=" + str((frame.shape[:2])[::-1])) 139 | print("K = \n", K) 140 | print("d = " + str(d.ravel())) 141 | np.savetxt(k_filename, K, delimiter=',', fmt="%0.14f") # 半径方向の歪み係数の保存 142 | np.savetxt(d_filename, d, delimiter=',', fmt="%0.14f") # 円周方向の歪み係数の保存 143 | else: 144 | print("findChessboardCorners() not be successful once") 145 | 146 | cap.release() 147 | cv.destroyAllWindows() 148 | 149 | 150 | if __name__ == '__main__': 151 | main() 152 | -------------------------------------------------------------------------------- /02-02_fisheyeUndistort.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: utf-8 -*- 3 | import argparse 4 | 5 | import cv2 as cv 6 | import numpy as np 7 | 8 | 9 | def get_args(): 10 | parser = argparse.ArgumentParser() 11 | 12 | parser.add_argument("--device", type=int, default=0) 13 | parser.add_argument("--file", type=str, default=None) 14 | parser.add_argument("--width", type=int, default=640) 15 | parser.add_argument("--height", type=int, default=360) 16 | 17 | parser.add_argument("--k_new_param", type=float, default=0.9) 18 | 19 | parser.add_argument("--k_filename", type=str, default="K_fisheye.csv") 20 | parser.add_argument("--d_filename", type=str, default="d_fisheye.csv") 21 | 22 | args = parser.parse_args() 23 | 24 | return args 25 | 26 | 27 | def main(): 28 | # コマンドライン引数 29 | args = get_args() 30 | 31 | cap_device = args.device 32 | filepath = args.file 33 | cap_width = args.width 34 | cap_height = args.height 35 | 36 | k_new_param = args.k_new_param 37 | 38 | k_filename = args.k_filename 39 | d_filename = args.d_filename 40 | 41 | # カメラ準備 42 | cap = None 43 | if filepath is None: 44 | cap = cv.VideoCapture(cap_device) 45 | cap.set(cv.CAP_PROP_FRAME_WIDTH, cap_width) 46 | cap.set(cv.CAP_PROP_FRAME_HEIGHT, cap_height) 47 | else: 48 | cap = cv.VideoCapture(filepath) 49 | 50 | # キャリブレーションデータの読み込み 51 | camera_mat = np.loadtxt(k_filename, delimiter=',') 52 | dist_coef = np.loadtxt(d_filename, delimiter=',') 53 | 54 | new_camera_mat = camera_mat.copy() 55 | new_camera_mat[(0, 1), (0, 1)] = k_new_param * new_camera_mat[(0, 1), 56 | (0, 1)] 57 | 58 | while (True): 59 | ret, frame = cap.read() 60 | undistort_image = cv.fisheye.undistortImage( 61 | frame, 62 | camera_mat, 63 | D=dist_coef, 64 | Knew=new_camera_mat, 65 | ) 66 | 67 | cv.imshow('original', frame) 68 | cv.imshow('undistort', undistort_image) 69 | 70 | key = cv.waitKey(1) & 0xFF 71 | if key == 27: # ESC 72 | cap.release() 73 | cv.destroyAllWindows() 74 | break 75 | 76 | cap.release() 77 | cv.destroyAllWindows() 78 | 79 | 80 | if __name__ == '__main__': 81 | main() 82 | -------------------------------------------------------------------------------- /03-01_omnidirCalibrateCamera.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: utf-8 -*- 3 | import argparse 4 | 5 | import cv2 as cv 6 | import numpy as np 7 | 8 | 9 | def get_args(): 10 | parser = argparse.ArgumentParser() 11 | 12 | parser.add_argument("--device", type=int, default=0) 13 | parser.add_argument("--file", type=str, default=None) 14 | parser.add_argument("--width", type=int, default=640) 15 | parser.add_argument("--height", type=int, default=360) 16 | 17 | parser.add_argument("--square_len", type=float, default=23.0) 18 | parser.add_argument("--grid_size", type=str, default="10,7") 19 | 20 | parser.add_argument("--k_filename", type=str, default="K_omni.csv") 21 | parser.add_argument("--d_filename", type=str, default="d_omni.csv") 22 | parser.add_argument("--xi_filename", type=str, default="xi_omni.csv") 23 | 24 | parser.add_argument("--interval_time", type=int, default=500) 25 | parser.add_argument('--use_autoappend', action='store_true') 26 | 27 | args = parser.parse_args() 28 | 29 | return args 30 | 31 | 32 | def main(): 33 | # コマンドライン引数 34 | args = get_args() 35 | 36 | cap_device = args.device 37 | filepath = args.file 38 | cap_width = args.width 39 | cap_height = args.height 40 | 41 | # カメラ準備 42 | cap = None 43 | if filepath is None: 44 | cap = cv.VideoCapture(cap_device) 45 | cap.set(cv.CAP_PROP_FRAME_WIDTH, cap_width) 46 | cap.set(cv.CAP_PROP_FRAME_HEIGHT, cap_height) 47 | else: 48 | cap = cv.VideoCapture(filepath) 49 | 50 | square_side_length = args.square_len # チェスボード内の正方形の1辺のサイズ(mm) 51 | grid_intersection_size = eval(args.grid_size) # チェスボード内の格子数 52 | 53 | k_filename = args.k_filename 54 | d_filename = args.d_filename 55 | xi_filename = args.xi_filename 56 | 57 | interval_time = args.interval_time 58 | use_autoappend = args.use_autoappend 59 | if use_autoappend is False: 60 | interval_time = 10 61 | 62 | # チェスボードコーナー検出情報 保持用変数 63 | pattern_points = np.zeros((1, np.prod(grid_intersection_size), 3), 64 | np.float32) 65 | pattern_points[0, :, :2] = np.indices(grid_intersection_size).T.reshape( 66 | -1, 2) 67 | pattern_points *= square_side_length 68 | object_points = [] 69 | image_points = [] 70 | 71 | subpix_criteria = (cv.TERM_CRITERIA_EPS + cv.TERM_CRITERIA_MAX_ITER, 30, 72 | 0.1) 73 | 74 | capture_count = 0 75 | while (True): 76 | ret, frame = cap.read() 77 | 78 | # チェスボードのコーナーを検出 79 | found, corner = cv.findChessboardCorners(frame, grid_intersection_size) 80 | 81 | if found: 82 | print('findChessboardCorners() : True') 83 | cv.drawChessboardCorners(frame, grid_intersection_size, corner, 84 | found) 85 | else: 86 | print('findChessboardCorners() : False') 87 | 88 | cv.putText(frame, 89 | "Enter:Capture Chessboard(" + str(capture_count) + ")", 90 | (10, 30), cv.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 1) 91 | cv.putText(frame, "ESC :Completes Calibration Photographing", (10, 55), 92 | cv.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 1) 93 | cv.imshow('original', frame) 94 | 95 | key = cv.waitKey(interval_time) & 0xFF 96 | if ((use_autoappend is True) and found) or ( 97 | (use_autoappend is False and key == 13) and found): # Enter 98 | # チェスボードコーナー検出情報を追加 99 | gray_image = cv.cvtColor(frame, cv.COLOR_BGR2GRAY) 100 | cv.cornerSubPix(gray_image, corner, (3, 3), (-1, -1), 101 | subpix_criteria) 102 | image_points.append(corner) 103 | object_points.append(pattern_points) 104 | capture_count += 1 105 | if key == 27: # ESC 106 | cap.release() 107 | cv.destroyAllWindows() 108 | break 109 | 110 | if len(image_points) > 0: 111 | # カメラ内部パラメータを計算 112 | print('omnidir.calibrate()') 113 | 114 | calibration_flags = cv.omnidir.CALIB_USE_GUESS + cv.omnidir.CALIB_FIX_SKEW + cv.omnidir.CALIB_FIX_CENTER 115 | 116 | rms, K, xi, d, rvecs, tvecs, idx = \ 117 | cv.omnidir.calibrate( 118 | object_points, 119 | image_points, 120 | gray_image.shape[::-1], 121 | K=None, 122 | xi=None, 123 | D=None, 124 | flags=calibration_flags, 125 | criteria=(cv.TERM_CRITERIA_EPS + cv.TERM_CRITERIA_MAX_ITER, 200, 1e-8) 126 | ) 127 | print("RMS = " + str(rms)) 128 | print("Shape=" + str((frame.shape[:2])[::-1])) 129 | print("K = \n", K) 130 | print("d = " + str(d.ravel())) 131 | np.savetxt(k_filename, K, delimiter=',', fmt="%0.14f") # 半径方向の歪み係数の保存 132 | np.savetxt(d_filename, d, delimiter=',', fmt="%0.14f") # 円周方向の歪み係数の保存 133 | np.savetxt(xi_filename, xi, delimiter=',', fmt="%0.14f") # xiの保存 134 | else: 135 | print("findChessboardCorners() not be successful once") 136 | 137 | cap.release() 138 | cv.destroyAllWindows() 139 | 140 | 141 | if __name__ == '__main__': 142 | main() 143 | -------------------------------------------------------------------------------- /03-02_omnidirUndistort.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: utf-8 -*- 3 | import argparse 4 | 5 | import cv2 as cv 6 | import numpy as np 7 | 8 | 9 | def get_args(): 10 | parser = argparse.ArgumentParser() 11 | 12 | parser.add_argument("--device", type=int, default=0) 13 | parser.add_argument("--file", type=str, default=None) 14 | parser.add_argument("--width", type=int, default=640) 15 | parser.add_argument("--height", type=int, default=360) 16 | 17 | parser.add_argument("--k_new_param", type=float, default=0.5) 18 | 19 | parser.add_argument("--k_filename", type=str, default="K_omni.csv") 20 | parser.add_argument("--d_filename", type=str, default="d_omni.csv") 21 | parser.add_argument("--xi_filename", type=str, default="xi_omni.csv") 22 | 23 | parser.add_argument( 24 | "--flag", 25 | type=int, 26 | help= 27 | '1:RECTIFY_PERSPECTIVE 2:RECTIFY_CYLINDRICAL 3:RECTIFY_LONGLATI 4:RECTIFY_STEREOGRAPHIC', 28 | default=1) 29 | 30 | args = parser.parse_args() 31 | 32 | return args 33 | 34 | 35 | def main(): 36 | # コマンドライン引数 37 | args = get_args() 38 | 39 | cap_device = args.device 40 | filepath = args.file 41 | cap_width = args.width 42 | cap_height = args.height 43 | 44 | k_new_param = args.k_new_param 45 | 46 | k_filename = args.k_filename 47 | d_filename = args.d_filename 48 | xi_filename = args.xi_filename 49 | 50 | flag = args.flag 51 | 52 | # カメラ準備 53 | cap = None 54 | if filepath is None: 55 | cap = cv.VideoCapture(cap_device) 56 | cap.set(cv.CAP_PROP_FRAME_WIDTH, cap_width) 57 | cap.set(cv.CAP_PROP_FRAME_HEIGHT, cap_height) 58 | else: 59 | cap = cv.VideoCapture(filepath) 60 | 61 | # キャリブレーションデータの読み込み 62 | camera_mat = np.loadtxt(k_filename, delimiter=',') 63 | dist_coef = np.loadtxt(d_filename, delimiter=',') 64 | xi = np.loadtxt(xi_filename, delimiter=',') 65 | 66 | new_camera_mat = camera_mat.copy() 67 | new_camera_mat[(0, 1), (0, 1)] = k_new_param * new_camera_mat[(0, 1), 68 | (0, 1)] 69 | 70 | # 参考：https://docs.opencv.org/master/dd/d12/tutorial_omnidir_calib_main.html 71 | if flag == 1: 72 | flags = cv.omnidir.RECTIFY_PERSPECTIVE 73 | elif flag == 2: 74 | flags = cv.omnidir.RECTIFY_CYLINDRICAL 75 | elif flag == 3: 76 | flags = cv.omnidir.RECTIFY_LONGLATI 77 | elif flag == 4: 78 | flags = cv.omnidir.RECTIFY_STEREOGRAPHIC 79 | else: 80 | flags = cv.omnidir.RECTIFY_PERSPECTIVE 81 | 82 | while (True): 83 | ret, frame = cap.read() 84 | unconstraint_image = cv.omnidir.undistortImage( 85 | frame, 86 | camera_mat, 87 | D=dist_coef, 88 | xi=xi, 89 | Knew=new_camera_mat, 90 | flags=flags, 91 | ) 92 | 93 | cv.imshow('original', frame) 94 | cv.imshow('unConstraint', unconstraint_image) 95 | 96 | key = cv.waitKey(1) & 0xFF 97 | if key == 27: # ESC 98 | cap.release() 99 | cv.destroyAllWindows() 100 | break 101 | 102 | cap.release() 103 | cv.destroyAllWindows() 104 | 105 | 106 | if __name__ == '__main__': 107 | main() 108 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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5 | 2021/06/21時点でPython実装のある以下3種類について用意しています。 6 | * 通常カメラ向け 7 | * 魚眼レンズ向け(fisheyeモジュール) 8 | * 全方位カメラ向け(omnidirモジュール)
9 | 全方位カメラは以下のような構造のカメラを想定しています。
10 |
11 | 画像はWikipediaの[Omnidirectional (360-degree) camera](https://en.wikipedia.org/wiki/Omnidirectional_(360-degree)_camera)から引用
12 | 13 | 14 | 15 | # Requirement 16 | * opencv-python 4.5.2.54 or later 17 | * opencv-contrib-python 4.5.2.54 or later ※omnidirモジュールを使用する場合のみ 18 | 19 | # Calibration Pattern 20 | サンプルでは以下の7×10のチェスボード型のキャリブレーションパターンを使用します。 21 | * http://opencv.jp/sample/pics/chesspattern_7x10.pdf 22 | 23 | 他の行列数のキャリブレーションパターンを使用したい場合は、以下を参照して作成or入手してください。 24 | * https://docs.opencv.org/master/da/d0d/tutorial_camera_calibration_pattern.html 25 | * https://github.com/opencv/opencv/blob/master/doc/pattern.png 26 | 27 | また、以下のようなサークル型のパターンやセクターベース型のパターンのサンプルは用意していません。 28 | * https://github.com/opencv/opencv/blob/master/doc/acircles_pattern.png 29 | * https://docs.opencv.org/4.5.2/checkerboard_radon.png 30 | 31 | # Usage 32 | 33 | calibrateCameraのサンプルでキャリブレーションパラメータをcsvに保存し、
34 | undistortのサンプルで歪み補正を実施してください。 35 | 36 | #### 01.calibrateCamera 37 | ```bash 38 | python 01-01_calibrateCamera.py 39 | python 02-01_fisheyeCalibrateCamera.py 40 | python 03-01_omnidirCalibrateCamera.py 41 | ``` 42 | キャリブレーションパターン検出時にEnterを押すことで撮影します。
43 | ESCを押すことでプログラムを終了し、キャリブレーションパラメータを保存します。
44 | 45 | 実行時には、以下のオプションが指定可能です。 46 |
47 | オプション指定 48 | 49 | * --device
50 | カメラデバイス番号の指定
51 | デフォルト： 52 | * 01-01_calibrateCamera：0 53 | * 02-01_fisheyeCalibrateCamera.py：0 54 | * 03-01_omnidirCalibrateCamera.py：0 55 | * --file
56 | 動画ファイル名の指定 ※指定時はカメラデバイスより優先し動画を読み込む
57 | デフォルト： 58 | * 01-01_calibrateCamera：None 59 | * 02-01_fisheyeCalibrateCamera.py：None 60 | * 03-01_omnidirCalibrateCamera.py：None 61 | * --width
62 | カメラキャプチャ時の横幅
63 | デフォルト： 64 | * 01-01_calibrateCamera：640 65 | * 02-01_fisheyeCalibrateCamera.py：640 66 | * 03-01_omnidirCalibrateCamera.py：640 67 | * --height
68 | カメラキャプチャ時の縦幅
69 | デフォルト： 70 | * 01-01_calibrateCamera：360 71 | * 02-01_fisheyeCalibrateCamera.py：360 72 | * 03-01_omnidirCalibrateCamera.py：360 73 | * --square_len
74 | キャリブレーションパターン(チェスボード)の1辺の長さ(mm)
75 | デフォルト： 76 | * 01-01_calibrateCamera：23.0 77 | * 02-01_fisheyeCalibrateCamera.py：23.0 78 | * 03-01_omnidirCalibrateCamera.py：23.0 79 | * --grid_size
80 | キャリブレーションパターン(チェスボード)の行列数(カンマ区切り指定)
81 | デフォルト： 82 | * 01-01_calibrateCamera：10,7 83 | * 02-01_fisheyeCalibrateCamera.py：10,7 84 | * 03-01_omnidirCalibrateCamera.py：10,7 85 | * --k_filename
86 | 半径方向の歪み係数の保存ファイル名(csv)
87 | デフォルト： 88 | * 01-01_calibrateCamera：K.csv 89 | * 02-01_fisheyeCalibrateCamera.py：K_fisheye.csv 90 | * 03-01_omnidirCalibrateCamera.py：K_omni.csv 91 | * --d_filename
92 | 円周方向の歪み係数の保存ファイル名(csv)
93 | デフォルト： 94 | * 01-01_calibrateCamera：d.csv 95 | * 02-01_fisheyeCalibrateCamera.py：d_fisheye.csv 96 | * 03-01_omnidirCalibrateCamera.py：d_omni.csv 97 | * --xi_filename
98 | Mei'sモデルパラメータxiの保存ファイル名(csv)
99 | デフォルト： 100 | * 03-01_omnidirCalibrateCamera.py：xi_omni.csv 101 | * --use_autoappend
102 | キャリブレーションパターン検出時に自動で撮影するか否か(指定しない場合はEnterで明示的に撮影)
103 | デフォルト： 104 | * 01-01_calibrateCamera：指定なし 105 | * 02-01_fisheyeCalibrateCamera.py：指定なし 106 | * 03-01_omnidirCalibrateCamera.py：指定なし 107 | * --interval_time
108 | use_autoappend指定時の撮影間隔(ms)
109 | デフォルト： 110 | * 01-01_calibrateCamera：500 111 | * 02-01_fisheyeCalibrateCamera.py：500 112 | * 03-01_omnidirCalibrateCamera.py：500 113 |
114 | 115 | #### 02.undistort 116 | ```bash 117 | python 01-02_undistort.py 118 | python 02-02_fisheyeUndistort.py 119 | python 03-02_omnidirUndistort.py 120 | ``` 121 | 122 | 実行時には、以下のオプションが指定可能です。 123 |
124 | オプション指定 125 | 126 | * --device
127 | カメラデバイス番号の指定
128 | デフォルト： 129 | * 01-01_calibrateCamera：0 130 | * 02-01_fisheyeCalibrateCamera.py：0 131 | * 03-01_omnidirCalibrateCamera.py：0 132 | * --file
133 | 動画ファイル名の指定 ※指定時はカメラデバイスより優先し動画を読み込む
134 | デフォルト： 135 | * 01-01_calibrateCamera：None 136 | * 02-01_fisheyeCalibrateCamera.py：None 137 | * 03-01_omnidirCalibrateCamera.py：None 138 | * --width
139 | カメラキャプチャ時の横幅
140 | デフォルト： 141 | * 01-01_calibrateCamera：640 142 | * 02-01_fisheyeCalibrateCamera.py：640 143 | * 03-01_omnidirCalibrateCamera.py：640 144 | * --height
145 | カメラキャプチャ時の縦幅
146 | デフォルト： 147 | * 01-01_calibrateCamera：360 148 | * 02-01_fisheyeCalibrateCamera.py：360 149 | * 03-01_omnidirCalibrateCamera.py：360 150 | * --k_filename
151 | 半径方向の歪み係数の読み込みファイル名(csv)
152 | デフォルト： 153 | * 01-01_calibrateCamera：K.csv 154 | * 02-01_fisheyeCalibrateCamera.py：K_fisheye.csv 155 | * 03-01_omnidirCalibrateCamera.py：K_omni.csv 156 | * --d_filename
157 | 円周方向の歪み係数の読み込みファイル名(csv)
158 | デフォルト： 159 | * 01-01_calibrateCamera：d.csv 160 | * 02-01_fisheyeCalibrateCamera.py：d_fisheye.csv 161 | * 03-01_omnidirCalibrateCamera.py：d_omni.csv 162 | * --xi_filename
163 | Mei'sモデルパラメータxiの読み込みファイル名(csv)
164 | デフォルト： 165 | * 03-01_omnidirCalibrateCamera.py：xi_omni.csv 166 | * --k_new_param
167 | Knewパラメータ指定時のスケール
168 | デフォルト： 169 | * 01-01_calibrateCamera：1.0 170 | * 02-01_fisheyeCalibrateCamera.py：0.9 171 | * 03-01_omnidirCalibrateCamera.py：0.5 172 |
173 | 174 | # Reference 175 | * [OpenCV Camera Calibration Tutorial](https://docs.opencv.org/master/dc/dbb/tutorial_py_calibration.html) 176 | * [OpenCV Camera Calibration and 3D Reconstruction](https://docs.opencv.org/master/d9/d0c/group__calib3d.html) 177 | * [OpenCV Fisheye camera model](https://docs.opencv.org/master/db/d58/group__calib3d__fisheye.html) 178 | * [OpenCV Omnidirectional Camera Calibration](https://docs.opencv.org/master/dd/d12/tutorial_omnidir_calib_main.html) 179 | 180 | # Author 181 | 高橋かずひと(https://twitter.com/KzhtTkhs) 182 | 183 | # License 184 | OpenCV-CameraCalibration-Example is under [Apache-2.0 License](LICENSE). 185 | -------------------------------------------------------------------------------- /chesspattern_7x10.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Kazuhito00/OpenCV-CameraCalibration-Example/d4805c706ebcd88b24ee1dfe29f7fd9a7c1a9690/chesspattern_7x10.pdf --------------------------------------------------------------------------------