qiaoxie / camera_calibration_tool

OpenCV-Python 相机标定及矫正，张正友相机标定法

camera_calibration_tool

camera_calibration_tool is used to easily calibrate and rectify camera using opencv-python.

With only one line of command, you can get parameters of your camera or rectify your video.

It is similar with calibration package of ROS.

Content

• camera_calibration_tool
• Content
• Usage
  • Calibration
  • Rectify video
  • Rectify camera
• Command line parameters

Requirement

This code works well in the following environment:

Ubuntu: 16.04

Python: 3.5.2

OpenCV: 3.2.0

Package requirement:

• glob
• numpy
• xml

Usage

This code can be used to calculate matrix and distortion coefficients of your camera, and rectify video/camera with these parameters.

Calibration

1. Prepare more than 10 images of chessboard photoed by your camera in different position and direction.
2. Be sure they are in the format of 'JPG' or 'jpg' or 'png'. (They are better to be in the same format, because I do not know if it will work or not.)
3. Put them in a folder named chess which should be in the same directory as calibration.py.
4. Run Terminal in current directory:

python3 calibration.py --image_size 1920x1080 --mode calibrate --corner 8x6 --square 20

Replace the value according to your camera and chessboard.

Your camera parameters will saved in a xml file named camera_params.xml.

Rectify video

If you have already calibrated your camera and saved params in camera_params.xml, then run:

python3 calibration.py --image_size 1920x1080 --mode rectify --video_path test.mp4

Replace the value according to your video. Only mp4 and avi are tested. Not sure about other format.

NOTE: image_size should be the same with chessboard images you used to calibrate.

Rectify camera

To rectify camera, run:

python3 calibration.py --image_size 1920x1080 --mode rectify --camera_id 0

Replace the value according to your camera.

NOTE: image_size should be the same with chessboard images you used to calibrate.

It will show the origin and rectified images of your camera.

Command line parameters

All the parameters and their actions are listed here:

python3 calibration.py [option] [value]

option	type	help	example
--image_size	str	width and height of image	1920x1080
--mode	str	to calibrate or rectify	choose from calibrate/rectify
--square	int	length of chessboard square(Necessary when calibrating)	20
--corner	str	width*height of chessboard corner(Necessary when calibrating)	8x6
--video_path	str	path of video need to rectify	./test.mp4
--camera_id	int	usb camera id	0