diff --git a/Visual measurement-cameramodel/py/Calibration.py b/Visual measurement-cameramodel/py/Calibration.py index 21bd89e..cf5c776 100644 --- a/Visual measurement-cameramodel/py/Calibration.py +++ b/Visual measurement-cameramodel/py/Calibration.py @@ -194,7 +194,7 @@ def fun(x,cameraModel,corners): error_y = 0 error_x = 0 f = cameraModel.focal_length - H = x[3] - 9 + H = x[3] -0 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 @@ -231,11 +231,11 @@ def fun(x,cameraModel,corners): def get_result(cameraModel, corners): params = cameraModel, corners - bounds = [(0.1, 1.7), (0.1, 1.7), [-0.5, 0.5],[1000,1020]] + bounds = [(0.1, 1.7), (0.1, 1.7), [-0.5, 0.5],[1000-9,1020-9]] # bounds = [(0.1, 1.7), (0.1, 1.7)] result = minimize( fun, - x0=[cameraModel.rotation_alpha, cameraModel.rotation_beta, 0, cameraModel.height], + x0=[cameraModel.rotation_alpha, cameraModel.rotation_beta, 0, 998], args=params, # method='Nelder-Mead', # 或 'trust-constr' method='L-BFGS-B', bounds=bounds, @@ -347,6 +347,7 @@ def check_Extrinsic_Parameters(image_path, output_path, config): # image_path = r"C:\Users\Administrator\Desktop\BYD\Visual measurement_model\Visual measurement\img\calibration\origin_img\*.jpg" # output_fold =r"C:\Users\Administrator\Desktop\BYD\Visual measurement_model\Visual measurement\img\calibration\undistor_img" # config = r"updated_config.json" +# find_corners(r"C:\Users\Administrator\Desktop\BYD\7.15\) # calibrate_and_undistort(image_path,output_fold,config,11,8,60) # calibrate_Extrinsic_Parameters("corrected.jpg", config, 11, 8) # check_Extrinsic_Parameters("corrected.jpg", "output.jpg", config) @@ -360,4 +361,10 @@ def check_Extrinsic_Parameters(image_path, output_path, config): # print(result) # img = cv2.imread(r"C:\Users\Administrator\Desktop\BYD\0718\new415.379489173224.jpg") # cv2.line(img, (int(229.67793558711742), 960-int(151.71034206841367)), (result[3],result[4]), (0, 255, 255), 3) -# cv2.imwrite(r"test.jpg", img) \ No newline at end of file +# cv2.imwrite(r"test.jpg", img) + +# image_path = r"C:\Users\Administrator\Desktop\BYD\8.5\*.jpg" +# output_fold = r"C:\Users\Administrator\Desktop\BYD\8.5\undistor_img" +# config = r"updated_config.json" +# # find_corners(image_path,7,6) +# calibrate_and_undistort(image_path,output_fold,config,9,8,100) \ No newline at end of file diff --git a/Visual measurement-cameramodel/py/__pycache__/cameramodel.cpython-312.pyc b/Visual measurement-cameramodel/py/__pycache__/cameramodel.cpython-312.pyc index 54a6b4d..c691aa9 100644 Binary files a/Visual measurement-cameramodel/py/__pycache__/cameramodel.cpython-312.pyc and b/Visual measurement-cameramodel/py/__pycache__/cameramodel.cpython-312.pyc differ diff --git a/Visual measurement-cameramodel/py/__pycache__/get_data.cpython-312.pyc b/Visual measurement-cameramodel/py/__pycache__/get_data.cpython-312.pyc index 0396e2d..dc94a94 100644 Binary files a/Visual measurement-cameramodel/py/__pycache__/get_data.cpython-312.pyc and b/Visual measurement-cameramodel/py/__pycache__/get_data.cpython-312.pyc differ diff --git a/Visual measurement-cameramodel/py/__pycache__/measure_lib.cpython-312.pyc b/Visual measurement-cameramodel/py/__pycache__/measure_lib.cpython-312.pyc new file mode 100644 index 0000000..638758d Binary files /dev/null and b/Visual measurement-cameramodel/py/__pycache__/measure_lib.cpython-312.pyc differ diff --git a/Visual measurement-cameramodel/py/calc_way.py b/Visual measurement-cameramodel/py/calc_way.py index 9603bc9..d39d918 100644 --- a/Visual measurement-cameramodel/py/calc_way.py +++ b/Visual measurement-cameramodel/py/calc_way.py @@ -52,7 +52,7 @@ def calc_distance(cameraModel, x: float, y: float) -> tuple[float, float]: Xw = d * math.cos(gamma + epsilon) Yw = -d * math.sin(gamma + epsilon) - return Xw, Yw + return Xw*cameraModel.zoom, Yw*cameraModel.zoom def calc_distance2(cameraModel, Xw: float, Yw: float) -> tuple[int, int]: @@ -72,7 +72,7 @@ def calc_distance2(cameraModel, Xw: float, Yw: float) -> tuple[int, int]: 像素坐标 (x, y)，类型为整数 """ # 1. 计算距离 d 和角度 seta、gamma - d = math.hypot(Xw, Yw) + d = math.hypot(Xw/cameraModel.zoom, Yw/cameraModel.zoom) tan_alpha = math.tan(cameraModel.rotation_alpha) tan_beta = math.tan(cameraModel.rotation_beta) seta = math.atan2(1, math.sqrt(tan_beta ** 2 + 1 / tan_alpha ** 2)) diff --git a/Visual measurement-cameramodel/py/cameramodel.py b/Visual measurement-cameramodel/py/cameramodel.py index 781fd06..4084a9b 100644 --- a/Visual measurement-cameramodel/py/cameramodel.py +++ b/Visual measurement-cameramodel/py/cameramodel.py @@ -33,6 +33,7 @@ class CameraModel: "ransac_residual_threshold": 2.5, "grid_downsample": True, "cell_size": 10, + "zoom":1.1, } @@ -62,6 +63,7 @@ class CameraModel: self.ransac_residual_threshold = params["ransac_residual_threshold"] self.grid_downsample = params["grid_downsample"] self.cell_size = params["cell_size"] + self.zoom = params["zoom"] # 计算派生属性 self.pixel_size_x = self.focal_length / self.undistor_K[0, 0] self.pixel_size_y = self.focal_length / self.undistor_K[1, 1] @@ -93,7 +95,8 @@ class CameraModel: "outlier_num": self.outlier_num, "grid_downsample": self.grid_downsample, "cell_size": self.cell_size, - "ransac_residual_threshold": self.ransac_residual_threshold + "ransac_residual_threshold": self.ransac_residual_threshold, + "zoom": self.zoom } with open(file_path, 'w') as f: json.dump(params, f, indent=4) diff --git a/Visual measurement-cameramodel/py/corrected.jpg b/Visual measurement-cameramodel/py/corrected.jpg new file mode 100644 index 0000000..4c2d156 Binary files /dev/null and b/Visual measurement-cameramodel/py/corrected.jpg differ diff --git a/Visual measurement-cameramodel/py/output.jpg b/Visual measurement-cameramodel/py/output.jpg new file mode 100644 index 0000000..40a39d5 Binary files /dev/null and b/Visual measurement-cameramodel/py/output.jpg differ diff --git a/Visual measurement-cameramodel/py/updated_config.json b/Visual measurement-cameramodel/py/updated_config.json index 7db2fd9..fb9391b 100644 --- a/Visual measurement-cameramodel/py/updated_config.json +++ b/Visual measurement-cameramodel/py/updated_config.json @@ -3,14 +3,14 @@ "camera_height": 960, "origin_K": [ [ - 1086.5841123501, + 1086.32711, 0.0, - 656.379279306796 + 657.410789 ], [ 0.0, - 1086.65442545872, - 470.898109737448 + 1086.44329, + 483.660145 ], [ 0.0, @@ -20,14 +20,14 @@ ], "undistor_K": [ [ - 838.19297892, + 838.19297635, 0.0, - 658.51580973 + 658.51581017 ], [ 0.0, - 836.93529706, - 475.57774991 + 836.9352939, + 476.42225023 ], [ 0.0, @@ -43,16 +43,17 @@ -0.0447846385 ], "focal_length": 3.6, - "height": 1007.0633042608584, - "rotation_alpha": 0.8892272342384955, - "rotation_beta": 0.6786627929104145, - "position_offset_x": 507, - "position_offset_y": 32, - "rotation_camera": 0.03985022053087201, + "height": 1026.4662744946722, + "rotation_alpha": 0.8169354601554343, + "rotation_beta": 0.8367541143814101, + "position_offset_x": 456, + "position_offset_y": 33, + "rotation_camera": 0.3727577077788678, "filter": true, - "filt_percent": 0.05, + "filt_percent": 0.1, "outlier_num": 10, "grid_downsample": true, "cell_size": 10, - "ransac_residual_threshold": 2.5 + "ransac_residual_threshold": 2.5, + "zoom": 1.0 } \ No newline at end of file