python - Opencv cv.calibrateCamera 返回“由名称（'flags'）和位置（8）给出的 calibrateCamera() 的参数”
问题描述
我正在尝试使用来自图像（像素位置）和真实世界位置的已知数据来校准相机。
以下是我所知道的：
相机
focal_length = 3.9
image_height = 3456
image_width = 4608
esl_height = 35
sensor_height = 4.69
sensor_width = 6.26
pixel_size = 1.34/1000
FOV_x = 71.9
FOV_y = 56.7
F_x = image_width /(2 * tan(FOV_x* pi / 360))
F_y = image_height /(2 * tan(FOV_y* pi / 360))
C_x = image_width / 2
C_y = image_height / 2
row1 = [F_x,0,C_x]
row2 = [0,F_y, C_y]
row3 = [0,0,1]
camera_matrix = np.matrix([row1,row2,row3])
这使：
matrix([[3.17701054e+03, 0.00000000e+00, 2.30400000e+03],
[0.00000000e+00, 3.20254589e+03, 1.72800000e+03],
[0.00000000e+00, 0.00000000e+00, 1.00000000e+00]])
数据
我有一个包含 49 个点的数据集，我有真实世界的 (x,y) 位置（我也有 z 值，但我真的只对 (x,y) 位置感兴趣。另外，我有图像中所有这些点的像素位置（它们是我执行的对象检测中的边界框中心。
id manual.location.x manual.location.y manual.location.z \
0 0 32.9878 41.9033 0.215
1 1 32.9878 44.4404 0.215
2 2 32.9878 44.4404 0.215
3 3 32.9878 44.4404 0.565
4 4 32.9878 44.4404 0.565
5 5 32.9878 44.4404 0.565
6 6 32.9878 44.4404 0.565
7 7 32.9878 44.4404 0.565
8 8 32.9878 41.9033 0.753
9 9 32.9878 44.4404 0.779
10 10 32.9878 44.4404 0.779
11 11 32.9878 44.4404 0.779
12 12 32.9878 41.9033 1.024
13 13 32.9878 44.4404 1.024
14 14 32.9878 42.7490 1.100
15 15 32.9878 43.5947 1.100
16 16 32.9878 43.5947 1.100
17 17 32.9878 43.5947 1.100
18 18 32.9878 43.5947 1.100
19 19 32.9878 44.4404 1.231
20 20 32.9878 44.4404 1.231
21 21 32.9878 44.4404 1.231
22 22 32.9878 44.4404 1.231
23 23 32.9878 42.7490 1.320
24 24 32.9878 43.5947 1.412
25 25 32.9878 42.7490 1.412
26 26 32.9878 43.5947 1.412
27 27 32.9878 44.4404 1.412
28 28 32.9878 44.4404 1.458
29 29 32.9878 44.4404 1.458
30 30 32.9878 44.4404 1.458
31 31 32.9878 44.4404 1.458
32 32 32.9878 42.7490 1.620
33 33 32.9878 42.7490 1.620
34 34 32.9878 43.5947 1.620
35 35 32.9878 43.5947 1.620
36 36 32.9878 42.7490 1.620
37 37 32.9878 44.4404 1.651
38 38 32.9878 44.4404 1.651
39 39 32.9878 44.4404 1.651
40 40 32.9878 44.4404 1.651
41 41 32.9878 44.4404 1.651
42 42 32.9878 42.7490 1.850
43 43 32.9878 42.7490 NaN
44 44 32.9878 44.4404 NaN
45 45 32.9878 44.4404 NaN
46 46 32.9878 44.4404 1.850
47 47 32.9878 43.5947 1.850
48 48 32.9878 44.4404 1.850
bbox_center_x bbox_center_y
0 4269.5 2914.0
1 1035.0 2883.5
2 843.5 2880.0
3 1516.5 2529.0
4 1247.5 2527.0
5 1730.0 2525.5
6 987.0 2522.0
7 765.5 2520.0
8 4435.0 2356.5
9 1196.0 2257.0
10 938.5 2255.0
11 704.5 2250.0
12 4547.0 1998.0
13 1291.0 1980.0
14 3681.0 1864.5
15 2394.0 1856.0
16 1931.5 1854.0
17 2043.0 1853.5
18 2043.0 1853.5
19 1620.0 1676.0
20 1267.0 1675.5
21 847.0 1672.5
22 593.5 1669.5
23 3783.5 1452.0
24 1931.5 1446.5
25 3346.5 1443.5
26 2878.0 1443.0
27 1632.0 1350.0
28 1409.0 1346.5
29 945.0 1339.5
30 727.0 1334.0
31 534.5 1332.0
32 4349.0 1109.0
33 3859.0 1101.0
34 1920.5 1097.5
35 2878.0 1090.5
36 3364.0 1087.0
37 1460.5 1037.0
38 1290.5 1036.0
39 1065.5 1034.0
40 748.0 1032.5
41 473.0 1029.0
42 4262.0 726.0
43 3683.5 713.0
44 1375.0 710.0
45 1094.5 708.0
46 850.0 705.0
47 3103.5 702.5
48 375.5 701.5
为了方便起见，我愿意让真实世界manual.location.z位置的 z 坐标 ( ) 为 0。
现在，我cv.calibrateCamera在 z 坐标 = 0 的数据上尝试了以下操作。所以，我做了以下事情：
manual.location.x manual.location.y manual.location.z bbox_center_x \
0 32.9878 41.9033 0 4269.5
1 32.9878 44.4404 0 1035.0
2 32.9878 44.4404 0 843.5
3 32.9878 44.4404 0 1516.5
4 32.9878 44.4404 0 1247.5
5 32.9878 44.4404 0 1730.0
6 32.9878 44.4404 0 987.0
7 32.9878 44.4404 0 765.5
8 32.9878 41.9033 0 4435.0
9 32.9878 44.4404 0 1196.0
10 32.9878 44.4404 0 938.5
11 32.9878 44.4404 0 704.5
12 32.9878 41.9033 0 4547.0
13 32.9878 44.4404 0 1291.0
14 32.9878 42.7490 0 3681.0
15 32.9878 43.5947 0 2394.0
16 32.9878 43.5947 0 1931.5
17 32.9878 43.5947 0 2043.0
18 32.9878 43.5947 0 2043.0
19 32.9878 44.4404 0 1620.0
20 32.9878 44.4404 0 1267.0
21 32.9878 44.4404 0 847.0
22 32.9878 44.4404 0 593.5
23 32.9878 42.7490 0 3783.5
24 32.9878 43.5947 0 1931.5
25 32.9878 42.7490 0 3346.5
26 32.9878 43.5947 0 2878.0
27 32.9878 44.4404 0 1632.0
28 32.9878 44.4404 0 1409.0
29 32.9878 44.4404 0 945.0
30 32.9878 44.4404 0 727.0
31 32.9878 44.4404 0 534.5
32 32.9878 42.7490 0 4349.0
33 32.9878 42.7490 0 3859.0
34 32.9878 43.5947 0 1920.5
35 32.9878 43.5947 0 2878.0
36 32.9878 42.7490 0 3364.0
37 32.9878 44.4404 0 1460.5
38 32.9878 44.4404 0 1290.5
39 32.9878 44.4404 0 1065.5
40 32.9878 44.4404 0 748.0
41 32.9878 44.4404 0 473.0
42 32.9878 42.7490 0 4262.0
46 32.9878 44.4404 0 850.0
47 32.9878 43.5947 0 3103.5
48 32.9878 44.4404 0 375.5
bbox_center_y
0 2914.0
1 2883.5
2 2880.0
3 2529.0
4 2527.0
5 2525.5
6 2522.0
7 2520.0
8 2356.5
9 2257.0
10 2255.0
11 2250.0
12 1998.0
13 1980.0
14 1864.5
15 1856.0
16 1854.0
17 1853.5
18 1853.5
19 1676.0
20 1675.5
21 1672.5
22 1669.5
23 1452.0
24 1446.5
25 1443.5
26 1443.0
27 1350.0
28 1346.5
29 1339.5
30 1334.0
31 1332.0
32 1109.0
33 1101.0
34 1097.5
35 1090.5
36 1087.0
37 1037.0
38 1036.0
39 1034.0
40 1032.5
41 1029.0
42 726.0
46 705.0
47 702.5
48 701.5
并准备好相机校准的数据：
data = df_p.to_numpy()
pts3d = data[:, 0:3]
pts2d = data[:, 3:5]
pts3d = pts3d.reshape(1,-1, 3)
pts2d = pts2d.reshape(1,-1, 2)
image_height = 3456
image_width = 4608
w = image_width
h = image_height
pts3d = pts3d.astype('float32')
pts2d = pts2d.astype('float32')
size = (w,h)
最后：
image_height = 3456
image_width = 4608
tvec = np.array([0, 0, 0], dtype=np.float32) #Camera is static
rvec = np.array([0, 0, 0], dtype=np.float32) #Camera is static
distCoeffs =np.array([0,0,0,0,0], dtype=np.float32)
cv.calibrateCamera([pts3d], [pts2d],size,camera_matrix,None,None,None,None,flags=cv.CALIB_FIX_K1+cv.CALIB_FIX_K2+cv.CALIB_FIX_K3+cv.CALIB_FIX_K4+cv.CALIB_FIX_K5)
但这会返回：
---------------------------------------------------------------------------
error Traceback (most recent call last)
<ipython-input-374-406d179adbf6> in <module>
17 distCoeffs =np.array([0, 0, 0,0,0], dtype=np.float32)
18
---> 19 cv.calibrateCamera([pts3d], [pts2d],size,camera_matrix,None,None,None,None,flags=cv.CALIB_FIX_K1+cv.CALIB_FIX_K2+cv.CALIB_FIX_K3+cv.CALIB_FIX_K4+cv.CALIB_FIX_K5)
error: OpenCV(4.5.3) :-1: error: (-5:Bad argument) in function 'calibrateCamera'
> Overload resolution failed:
> - argument for calibrateCamera() given by name ('flags') and position (8)
> - argument for calibrateCamera() given by name ('flags') and position (8)
即使这样：
cv.calibrateCamera([pts3d], [pts2d],size,camera_matrix,distCoeffs,None,None,None,flags=cv.CALIB_FIX_K1+cv.CALIB_FIX_K2+cv.CALIB_FIX_K3+cv.CALIB_FIX_K4+cv.CALIB_FIX_K5)
返回相同的错误。
我不知道我做错了什么。
我想要什么？我希望能够获得相机的失真系数。这种方式或任何其他方式都能给我满意的结果。
解决方案
我的猜测是它与以下中使用的标志有关：
cv.calibrateCamera([pts3d], [pts2d],size,camera_matrix,distCoeffs,None,None,None,flags=cv.CALIB_FIX_K1+cv.CALIB_FIX_K2+cv.CALIB_FIX_K3+cv.CALIB_FIX_K4+cv.CALIB_FIX_K5)
如果您将其更改为：
cv.calibrateCamera([pts3d], [pts2d],size,camera_matrix,distCoeffs,None,None,None,flags=cv.CALIB_USE_INTRINSIC_GUESS)
或者只是将标志保留为标准方式，它不会再产生该错误，而不是camera_matrix使用的标志和标志之间不匹配。
也许您还需要添加cv.CALIB_FIX_K6？
推荐阅读
- c# - 使用 ffmpeg.autogen 将 HLS 视频源重新流式传输到 RTMP
- php - 如果在php中的斜杠之后如何删除空格
- django - 每当我尝试登录时，我都会收到 500 服务器错误，注册....我认为这与 google 社交帐户有关
- c# - 如何在xamarin中保持键盘打开
- php - 使用 unlink() PHP 时出现“是目录”错误
- java - 尝试访问 .jar 文件中的内部静态枚举时出现编译错误
- algorithm - 击中物体算法
- postgresql - 如何使用 CASE WHEN 对数据进行分组？
- matlab - Matlab 的“可读”可以识别列标题吗？
- python - 如何使用 Python 和 OpenCV 从扫描的文档中检测垂直线和水平线？