[opencv python]摄像头标定（代码详解）

学习自：python opencv中文

摄像头标定的理解隐藏在注释里

init(对象点，图像点)--->对每一张图进行操作--->寻找角点--->寻找亚像素精度角点--->画出角点--->通过图像点和对象点找出摄像机的内部参数和畸变矩阵--->畸变矫正--->去除畸变--->计算误差

# encoding: utf-8
#!/usr/bin/python
import cv2
import glob
import numpy as np
from matplotlib import pyplot as plt

#设置终止条件
crireria = (cv2.TERM_CRITERIA_MAX_ITER + cv2.TERM_CRITERIA_EPS, 100, 0.001)

# 做一些3D点
objp = np.zeros((6*7, 3), np.float32)
objp[:, :2] = np.mgrid[0:7, 0:6].T.reshape(-1, 2)
print(objp)
objpoints = []
imgpoints = []

images = glob.glob('D:\\PICTURE\\checkerboard\\*.jpg')
for fname in images:
    img = cv2.imread(fname)
    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
    ret, corners = cv2.findChessboardCorners(gray, (7, 6), None)

    if ret == True:
        #画出亚像素精度角点
        objpoints.append(objp)
        corners2 = cv2.cornerSubPix(gray, corners, (7, 6), (-1, -1), crire