7.11test

Visual measurement-straight/py/Calibration.py

@@ -101,29 +101,40 @@ def find_corners(image_path, columns, rows):
 
     # 方法：固定值 - 列值
     corners_reshaped[:, column_index] = fixed_value - corners_reshaped[:, column_index]
-    # print(corners_reshaped)
+    print(corners_reshaped)
     return corners_reshaped
 
 def fun_test(x,cls,corners):
     print("标定开始")
     # print(corners)
     error = 0
+    error_y = 0
     model = cls()
     f = model.f
     H = model.H - 9
     gamma = math.atan(1 / (math.tan(x[0]) * math.tan(x[1])))
     seta = math.atan(1 / math.sqrt(pow(math.tan(x[1]), 2) + 1 / pow(math.tan(x[0]), 2)))
     column = 0
+    k = 0
     for index, value in enumerate(corners):
         if index % 11 == 10:
             column += 1
             index += 1
+            k += 1
             continue
         Xw, Yw = calc_way.calc_distance(value[0], value[1], x[0], x[1])
         Xw1, Yw1 = calc_way.calc_distance(corners[index+1][0], corners[index+1][1], x[0], x[1])
+        print(f"第{index}个点")
+        print(f"Xw: {Xw}, Yw: {Yw}")
+        print(f"Xw1: {Xw1}, Yw1: {Yw1}")
         d2 = math.sqrt((Xw1 - Xw) ** 2 + (Yw1 - Yw) ** 2)
+        print(f"两点距离为：{d2:.2f}")
         error = error + abs(d2 - 60)
-    return error/80
+        d_y = abs(570-60*k-50+Yw)
+        error_y = error_y + d_y
+    print(f"平均误差为：{error/80:.2f}")
+    print(f"errpr_y:{error/80:.2f}")
+    return error/80 + error_y/80
 
 def get_result_test(cls,corners):
         params = cls,corners
@@ -134,10 +145,57 @@ def get_result_test(cls,corners):
             args=params,
             # method='Nelder-Mead',  # 或 'trust-constr'
             method='L-BFGS-B', bounds=bounds,
-            tol=1e-12,  # 高精度容差
-            options={'gtol': 1e-12, 'maxiter': 1000}
+            tol=1e-6,  # 高精度容差
+            options={'gtol': 1e-6, 'maxiter': 1000}
         )
         return result
 
 
-
+def undistort_image(image_path, camera_matrix, dist_coeffs):
+    # 读取图像
+    img = cv2.imread(image_path)
+
+    # 获取图像尺寸
+    h, w = img.shape[:2]
+
+    # 优化相机矩阵
+    new_camera_matrix, roi = cv2.getOptimalNewCameraMatrix(
+        camera_matrix, dist_coeffs, (w, h), 1, (w, h))
+
+    # 使用undistort
+    dst = cv2.undistort(img, camera_matrix, dist_coeffs, None, new_camera_matrix)
+
+    # 裁剪图像(使用roi)
+    x, y, w, h = roi
+    dst = dst[y:y + h, x:x + w]
+
+    return dst
+
+
+# 示例使用
+# 假设你已经通过相机标定获得了相机矩阵和畸变系数
+
+
+
+# result = calibrate(r"C:\Users\Administrator\Desktop\BYD\20250711\*.jpg",11,8,60)
+# camera_matrix = result[0]
+# dist_coeffs = result[1]
+# corrected_img = undistort_image(r"C:\Users\Administrator\Desktop\BYD\20250711\frame_2100_3.jpg", camera_matrix, dist_coeffs)
+# cv2.imwrite("corrected.jpg", corrected_img)
+# result = get_result_test(model.Model,find_corners("corrected.jpg",11,8))
+# print(result)
+# find_corners("corrected.jpg",11,8)
+# x_zeros,y_zeros = calc_way.calc_zeros_yto0(-200)
+# print(x_zeros,y_zeros)
+# # 读取图像
+# img = cv2.imread("corrected.jpg")
+#
+# # 定义两点坐标
+# pt1 = (int(x_zeros[0]), int(960-y_zeros[0]))
+# pt2 = (int(x_zeros[-1]), int(960-y_zeros[-1]))
+#
+# # 画红色线条，粗细为3
+# cv2.line(img, pt1, pt2, (0, 0, 255), 3)
+#
+# # 保存结果
+# cv2.imwrite("output.jpg", img)

Visual measurement-straight/py/calc_way.py

@@ -118,9 +118,9 @@ def calc_zeros_yto0(val):
             unique_solutions.append(sol)
     x = []
     y = []
-    # print("找到的解:")
+    print("找到的解:")
     for sol in unique_solutions:
-        # print(f"x = {sol[0]:.4f}, y = {sol[1]:.4f}")
+        print(f"x = {sol[0]:.4f}, y = {sol[1]:.4f}")
         x.append(sol[0])
         y.append(sol[1])
     return x, y

Visual measurement-straight/py/model.py

@@ -2,23 +2,47 @@ import numpy as np
 from scipy.optimize import minimize
 
 #保存相机内参、外参等参数
+# class Model:
+#     def __init__(self):
+#         # 内参
+#         self.K = np.array([[801.8319, 0, 647.8920],
+#                            [0, 801.7619, 532],
+#                            [0, 0, 1]])
+#         self.f = 3.6
+#         self.H = 1019.0000170167332
+#         self.dx = self.f / self.K[0, 0]
+#         self.dy = self.f / self.K[1, 1]
+#         self.u0 = self.K[0, 2]
+#         self.v0 = self.K[1, 2]
+#         # 外参
+#         self.alpha = 0.7072338025822084
+#         self.beta = 0.9077237961986776
+#         # 位置修正
+#         self.y = -70
+#         self.x = 22
+#         # 数据截断线
+#         self.limit_slope = 0.3259949467095897
+#         self.limit_intercept = 452.86565535382374
+
 class Model:
     def __init__(self):
         # 内参
-        self.K = np.array([[801.8319, 0, 647.8920],
-                           [0, 801.7619, 532],
-                           [0, 0, 1]])
+        self.K = np.array([[1.08632711e+03, 0.00000000e+00, 6.57410789e+02],
+                            [0.00000000e+00, 1.08644329e+03, 960-4.83660145e+02],
+                            [0.00000000e+00, 0.00000000e+00, 1.00000000e+00]])
         self.f = 3.6
-        self.H = 1019.0000170167332
+        self.H = 1009.0000170167332
         self.dx = self.f / self.K[0, 0]
         self.dy = self.f / self.K[1, 1]
         self.u0 = self.K[0, 2]
         self.v0 = self.K[1, 2]
         # 外参
-        self.alpha = 0.7072338025822084
-        self.beta = 0.9077237961986776
+        # self.alpha = 8.749e-01
+        # self.beta = 7.664e-01
+        self.alpha = 9.478e-01
+        self.beta = 8.111e-01
         # 位置修正
-        self.y = -70
+        self.y = -50
         self.x = 22
         # 数据截断线
         self.limit_slope = 0.3259949467095897